On-orbit Servicing Mission Planning And Modeling Visualization For Space Intelligent Robot

With the rapid development of space on-orbit servicing technology,spacecraft in the complex space environment orbit more sustainable and efficient operation.It can realize on-orbit assembly of complex and large spacecraft,on-orbit capture,fuel injection and module replacement of failed spacecraft.Firstly,this paper selects a meaningful on-orbit service task,designs a space manipulator for on-orbit service based on this task,and plans the cooperative operation between spatial manipulators.Then the 3d model of the in-orbit service object is built and the motion control is analyzed.Finally,the enhanced synthetic view and its simulation technology are introduced.By adding the enhanced synthetic view technology,the 3d perception,understanding and decision-making ability of the space manipulator operating in the space environment are improved,and the reliability of the operation is guaranteed.This paper mainly completed the following work:1.Design and realize the establishment of 3d object model of human-computer interaction of space manipulator.The structure of satellite,space manipulator and smart satellite sensor replacement device is designed.This paper adopts the operation mode of three spatial manipulators working together,allocates their respective operation objects and operation contents,plans reasonable and effective replacement steps,and realizes the coordination and cooperation among the three spatial manipulators.2.Designed and realized enhanced synthetic visual visualization of human-computer interaction environment.Construct 3d immersive environment,realize the visualization of task objects,create multiple perspectives/channels,and enhance the immersive sense of observation.And through the design of a new augmented reality virtual work elements,combined with the visual perspective/channel to achieve the space manipulator on-orbit service sense of presence observation.3.Kinematic analysis and modeling of space manipulator are conducted.The kinematics analysis and modeling of space manipulator is carried out,and the appropriate coordinatesystem is selected and determined.This paper designs a feasible general plan of on-orbit servicing task,realizes the visualization of on-orbit servicing scene,reduces the complexity of operation,and improves the reliability of on-orbit servicing of space manipulator.The techniques of visual image detection and pose measurement are analyzed and studied.When the end-effector of the manipulator recognizes the captured target,the image algorithm is used to detect the captured feature points and estimate the pose of them,which enhances the operation accuracy of the manipulator.4.Analyzed and studied the ways and methods of the augmented reality processing of tele-operation between heaven and earth.The integrated display layout of human-computer interaction is designed.In the process of operation,safe and effective operation can be carried out by switching different perspectives and combining the information given by virtual elements.The operation stage is divided into off-line planned trajectory movement and online recognition and alignment operation.In the online recognition and alignment stage,two modes can be adopted,namely automatic alignment of the system and manual alignment of the ground operator.The influence of manual operation on the just-in-time time delay of the system is considered,and the operation of the spatial manipulator is controlled by simultaneously observing the real-time and time-delayed images.