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Cooperative Assembly of Space Telescope Sub-Mirror Modules Based on Visual Measurement and Trajectory Optimization

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Publicado en:Journal of Physics: Conference Series vol. 3109, no. 1 (Oct 2025), p. 012084
Autor principal: Wang, Wenrui
Otros Autores: Li, Delun, Zhan, Bowen, Chen, Xin, Yang, Chao, Tang, Qirong
Publicado:
IOP Publishing
Materias:
Modular units
Multiple objective analysis
Pose estimation
Trajectory optimization
Dung
Modular systems
Modular construction
Trajectory planning
Space telescopes
Polynomials
Acceso en línea:Citation/Abstract
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Resumen:To address the future demand for on-orbit modular construction of large space telescopes, this paper proposes a cooperative assembly method for modular sub-mirror units based on visual measurement and trajectory optimization. A modular sub-mirror assembly system is established, incorporating an AprilTag-assisted pose estimation framework. On this basis, a 3-5-3 polynomial trajectory planning approach and an improved Dung Beetle Optimizer (DBO) are introduced to achieve multi-objective optimization of the assembly path. Experimental validation is conducted on a dual-arm UR robotic platform, demonstrating the effectiveness of the proposed method in terms of assembly accuracy, execution stability, and trajectory tracking performance. The results indicate that the proposed approach satisfies the requirements for efficient, robust, and compliant assembly, and exhibits strong feasibility and potential for practical application in space-based modular optical systems.
ISSN:1742-6588
1742-6596
DOI:10.1088/1742-6596/3109/1/012084
Fuente:Advanced Technologies & Aerospace Database