运载火箭推进剂加注自动对接与脱离机器人自动上箭模块控制系统的设计与实验

Design and Experiment of the Control System for Automatic Rocket-attaching Module of Auto-docking and Auto-separating Robot for Launch Vehicle Propellant Loading

摘要: 针对运载火箭推进剂加注自动对接与脱离机器人的自动上箭问题，设计了自动上箭模块控制系统．该系统通过图像处理算法为平面内的自主导引定位提供视觉信息，并通过力伺服算法辅助自动上箭平稳完成．大量模拟实验以及与真实火箭的对接实验，验证了该控制系统的可靠性及稳定性．

Abstract: Aiming at the automatic rocket-attaching problem of the auto-docking and auto-separating robot for launch vehicle propellant loading, a control system is designed for the automatic rocket-attaching module. The system uses image processing algorithm to provide visual information for the autonomous navigation positioning in plane, and the force servo algorithm is designed to assist the rocket-attaching to complete smoothly. A large number of docking simulation experiments and the experiments on real rockets prove the reliability and stability of the control system.