中文摘要：

为了对在月球上工作的机械臂进行地面仿真实验,设计并实现了一套悬吊式的、以视觉伺服方式作为随动控制系统的月球六分之一微重力模拟装置;为了能够满足高精度、大视场、大景深、高频率的成像条件,设计了以LED光源主动发光为基础的目标标志器以及基于激光测距仪及双相机多传感器融合的视觉测量系统,提出了一套目标识别、检测和位置测量的方法;采用PMAC运动控制卡作为执行机构的控制器,实现对电机的数字PID控制;经过试验验证,所设计的系统操作简单、运行稳定、微重力模拟精度高。

英文摘要：

In order to carry out ground simulation for mechanical arm which will work on moon, a set of suspension one--sixth micro- gravity simulator with visual servo as the following control system is designed and implemented. In order to satisfy the imaging condition of high precision, wide and large depth of field and high frequency, design a LED light source active light based target marker and a vision measuring system based on multi--sensor fusion of laser range finder and dual camera, presents a method of target recognition and detection based on the target marker. Using the PMAC motion control card as the controller of the actuator, achieve the precise control of motor. Af- ter test, the designed system is simple operation, stable running and high microgravity simulation accuracy.