基于二维位置敏感探测器的空间对接过程研究

为了准确地捕捉机器人空间对接的传感器信息,从对接机构的设计入手,研究了空间对接中传感器的选择、改制和基于传感器信息的空间对接问题.考虑到安装空间的限制和处理的信息量太多,提出了利用二维位置敏感探测器(PSD)配合红外发光器阵列的方法完成机器人的空间对接.通过对位置敏感探测器工作原理的分析和对传感器特性的试验,提出了在PSD光敏面上增加光学装置的方法以扩大它的探测范围和精度,同时大大减小了它对光信号的依赖程度.把该方法应用于可重构模块化探测机器人系统中,提出了基于传感器信息的轨迹规划方法,对子机器人空间对接过程的仿真试验验证了轨迹规划和空间对接的可行性.

The difficulty of robots space docking is to snatch sensor information exactly.Following the docking mechanism design,the sensor selection,modification and robot space docking based on sensor information are investigated.Considering the restriction of installing space and huge processing information,the method for space docking with two-dimensional position sensing detector(PSD) and light-emitting diode(LED) array is put forward.The PSD operating principle is analyzed,and the corresponding characteristics are tested,furthermore the method adding the optical device to PSD light-sensitive surface is suggested to enlarge the detecting extension and reduce the dependence of lighting signal.In a self-Reconfiguration modular exploration robots system(RMERS),the trajectory planning based on sensor information is carried out to validate the feasibility of space docking.

国家高技术研究发展计划资助项目(2002AA422130).