A Self-calibration Method of Lander Manipulator for Deep Space Exploration Mission

In view of the characteristics of the lander in deep space exploration mission, a self-calibration method of kinematics parameters is proposed; it uses the hand-eye camera at the end of the manipulator as the measuring equipment to calibrate the kinematics parameters of the manipulator carried on the lander. By establishing the kinematic model contains the relative pose of manipulator's base coordinate and target coordinate, and then establishing the kinematic error model of the lander manipulator system to realize the kinematics parameters calibration. The method realizes the kinematics parameters calibration under the condition of unknown of the relative pose of base coordinate system and target coordinate system, and calibrates the manipulator base coordinates in inertial system and the hand-eye relation at the same time. Through simulation experiments, it is verified that the self-calibration method proposed in this paper can obtain accurate kinematics parameters and effectively improve the accuracy of the lander manipulator terminal pose.