Моделирование операции приближения космического манипуляционного робота к объекту на функционально-моделирующем стенде с использованием системы технического зрения

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А.Г. Лесков, В.В. Илларионов, И.А. Калеватых и др.
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Modeling of space robotic manipulator approach operations
to the object on the function simulation stand using machine
vision systems
© A.G. Leskov, V.V. Illarionov, I.A. Kalevatykh,
S.D. Moroshkin, K.V. Bazhinova, E.V. Feoktistova
Bauman Moscow State Technical University, Dmitrov Branch, Dmitrov, 141801, Russia
One of the operations performed by robotic manipulator (RM) is an approach of RM to
the object using computer vision systems (CVS) to obtain data on the relative positions of
the gripper and the object. A method for determining the CVS camera coordinates with
respect to the object by image processing when controlling the space robotic manipulator
(SRM) in the mode of motion near the target is proposed. Software has been developed
and the results of in-line simulating RM guidance operations are presented.
Keywords: function simulation stand, computer vision system, pattern recognition, digital
image, guidance, simulation results.
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Leskov A.G., Dr. Sci. (Eng.), professor, director of the Dmitrov branch of Bauman
Moscow State Technical University. e-mail:
Illarionov V.V., head of the laboratory at Bauman Moscow State Technical
University, Dmitrov branch. e-mail: