中文摘要：

在工具姿势(位置和取向) 上克服在轨道上极端温度环境的影响一个空间机器人的精确性，基于大小，照相机(手眼睛视觉) 纳入了它的结束受动器的一个新自我刻度方法被介绍。用在空间机器人的二个邻近的刻度位置之间的相对姿势错误，刻度的费用功能被造，它与常规刻度方法不同。粒子群优化算法(PSO ) 被用来优化函数认识到空格机器人的几何参数鉴定。上述刻度方法通过其结束受动器与手眼睛视觉被装备的一个 six-DOF 空间机器人的自我刻度模拟被执行。结果证明在刻度以后，有在一套独立参考位置的工具姿势精确性的重要改进，它验证了方法的可行性。同时，因为这个方法从机器人底知道转变矩阵到刻度板是不必要的，它减少了刻度模型的复杂性并且弄短错误繁殖锁住，它受益了改进刻度精确性。

英文摘要：

To overcome the influence of on-orbit extreme temperature environment on the tool pose （position and orientation） accuracy of a space robot, a new self-calibration method based on a measurement camera （hand-eye vision） attached to its end-effector was presented. Using the relative pose errors between the two adjacent calibration positions of the space robot, the cost function of the calibration was built, which was different from the conventional calibration method. The particle swarm optimization algorithm （PSO） was used to optimize the function to realize the geometrical parameter identification of the space robot. The above calibration method was carried out through self-calibration simulation of a six-DOF space robot whose end-effector was equipped with hand-eye vision. The results showed that after calibration there was a significant improvement of tool pose accuracy in a set of independent reference positions, which verified the feasibility of the method. At the same time, because it was unnecessary for this method to know the transformation matrix from the robot base to the calibration plate, it reduced the complexity of calibration model and shortened the error propagation chain, which benefited to improve the calibration accuracy.