Multi-Dimensional LADAR Tracking and Adaptive Grasping for Spaceborne Assembly ofSDI (Strategic Defense Initiative) Platforms

摘要

The most successful approaches to both machine target recognition and robot armmanipulation have been those where tasks are completely pre-specified. In such systems there is little room for deviations in robot path motion or target location and orientation. A novel approach to robotic implementation such as spaceborne assembly of SDI platforms are too difficult for existing robots because random occurrences and large numbers of external variables preclude the complete specification of tasks off-line. The proposed system has strong adaptability due to the following innovations: Registered video and range laser radar sensing (i.e.,a one-to-one correspondence between visual and range data). This allows fast, accurate 3D target recognition as part of an autonomous CAD model based recognition system for Phase II, or as input to teleoperator control in Phase I. Closed loop range and video feedback for grasper guidance using the pose matching concept where target and grasper are both in the field of view, and CAD derived track points are used for position and orientation error signals. Adaptive control systems; Manipulators; Computer aided design; Computer vision/recognition; Data bases; Optical radar tracking. (edc)