Sökning: onr:"swepub:oai:DiVA.org:ltu-7454" > Direct image-based ...
Fältnamn | Indikatorer | Metadata |
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000 | 02787naa a2200337 4500 | |
001 | oai:DiVA.org:ltu-7454 | |
003 | SwePub | |
008 | 160929s2016 | |||||||||||000 ||eng| | |
024 | 7 | a https://urn.kb.se/resolve?urn=urn:nbn:se:ltu:diva-74542 URI |
024 | 7 | a https://doi.org/10.1016/j.ast.2016.05.0122 DOI |
040 | a (SwePub)ltu | |
041 | a engb eng | |
042 | 9 SwePub | |
072 | 7 | a ref2 swepub-contenttype |
072 | 7 | a art2 swepub-publicationtype |
100 | 1 | a Alepuz, Javier Pérezu University of Alicante, POBox 99, 03080, Alicante, Spain4 aut |
245 | 1 0 | a Direct image-based visual servoing of free-floating space manipulators |
264 | 1 | b Elsevier BV,c 2016 |
338 | a print2 rdacarrier | |
500 | a Validerad; 2016; Nivå 2; 20160518 (andbra) | |
520 | a This paper presents an image-based controller to perform the guidance of a free-floating robot manipulator. The manipulator has an eye-in-hand camera system, and is attached to a base satellite. The base is completely free and floating in space with no attitude control, and thus, freely reacting to the movements of the robot manipulator attached to it. The proposed image-based approach uses the system's kinematics and dynamics model, not only to achieve a desired location with respect to an observed object in space, but also to follow a desired trajectory with respect to the object. To do this, the paper presents an optimal control approach to guiding the free-floating satellite-mounted robot, using visual information and considering the optimization of the motor commands with respect to a specified metric along with chaos compensation. The proposed controller is applied to the visual control of a four-degree-of-freedom robot manipulator in different scenarios. | |
650 | 7 | a TEKNIK OCH TEKNOLOGIERx Elektroteknik och elektronikx Annan elektroteknik och elektronik0 (SwePub)202992 hsv//swe |
650 | 7 | a ENGINEERING AND TECHNOLOGYx Electrical Engineering, Electronic Engineering, Information Engineeringx Other Electrical Engineering, Electronic Engineering, Information Engineering0 (SwePub)202992 hsv//eng |
653 | a Onboard Space Systems | |
653 | a Rymdtekniska system | |
700 | 1 | a Emami, Rezau Luleå tekniska universitet,Rymdteknik,University of Toronto Institute for Aerospace Studies, 4925 Dufferin Street, Toronto, Ontario M3H 5T6, Canada4 aut0 (Swepub:ltu)rezema |
700 | 1 | a Pomares, Jorgeu University of Alicante, POBox 99, 03080, Alicante, Spain4 aut |
710 | 2 | a University of Alicante, POBox 99, 03080, Alicante, Spainb Rymdteknik4 org |
773 | 0 | t Aerospace Science and Technologyd : Elsevier BVg 55, s. 1-9q 55<1-9x 1270-9638x 1626-3219 |
856 | 4 8 | u https://urn.kb.se/resolve?urn=urn:nbn:se:ltu:diva-7454 |
856 | 4 8 | u https://doi.org/10.1016/j.ast.2016.05.012 |
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