基于FFRLS的空间机械臂手眼关系在轨标定方法OA

With the deepening of space exploration missions,space manipulators have become the core execution mechanisms for strategic tasks such as on-orbit servicing and deep space exploration.However,vibrations during launch,temperature fluctuations in a microgravity environment in space,and component aging caused by cosmic radiation can lead to dynamic drift in the hand-eye relationship of on-orbit manipulators,thereby reducing performance and increasing mission risk.To address these issues,this paper proposes an efficient and high-precision online hand-eye calibration approach suitable for the limited satellite computing environment.First,this paper derives a linear equation system for simultaneously solving the rotation and translation components of the hand-eye relationship,transforming the AX=XB problem into a one-step calculation,and derives the least squares solution.Subsequently,utilizing configuration from the manipulator controller(i.e.,A)and visual measurement data from the camera(i.e.,B)acquired during the execution of routine tasks by the on-orbit manipulator,the forgetting factor recursive least squares(FFRLS)algorithm is employed to achieve online hand-eye calibration.Finally,comparative experiments are conducted using a dataset constructed to simulate the on-orbit dynamic changes of the hand-eye relationship.Results show that,under the same computing power conditions,the proposed method requires only 0.75%of the computation time of the Tsai method combined with a sliding window,while achieving comparable calibration accuracy and demonstrating stronger robustness to measurement noise.