Movement programming of space robot′s end-effector based on vision

ZHU Yingyuan, NI Fenglei, SHI Shicai, LIU Hong
(Robot Research Institute, Harbin Institute of Technology， Harbin 150001，China)

Abstract: The space robot should be used to track, close and capture the target. It is difficult for the robot to reach the capture range because the robot and the aim object are floating all. In order to help the robot to do the complicated movement and connect the floating object, the vision was fixed on the endeffector to control the robot’s movement track. The movement programming of the endeffector needed to move to capture the target was concluded with the lead by vision based on the conservation of momentum. So the fingers of the space effector could avoid touch with the target during the robot tracked and closed the aid. The zero gravity environment which the tracking and capture of robot could be examined in, was simulated by the airfoot and 6dof simulator. The results indicate that the robot can track and capture the floating object by the help of the movement planning based the vision.
Key words: endeffector； movement programming； vision；  capture