Direct image-based visual servoing of free-floating space manipulators

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Alepuz, Javier PérezUniversity of Alicante, POBox 99, 03080, Alicante, Spain (författare)

Validerad; 2016; Nivå 2; 20160518 (andbra)
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.

Emami, RezaLuleå tekniska universitet,Rymdteknik,University of Toronto Institute for Aerospace Studies, 4925 Dufferin Street, Toronto, Ontario M3H 5T6, Canada(Swepub:ltu)rezema (författare)
Pomares, JorgeUniversity of Alicante, POBox 99, 03080, Alicante, Spain (författare)
University of Alicante, POBox 99, 03080, Alicante, SpainRymdteknik (creator_code:org_t)

Ingår i:Aerospace Science and Technology: Elsevier BV55, s. 1-91270-96381626-3219

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TEKNIK OCH TEKNOLOGIER: TEKNIK OCH TEKNO ...; och Elektroteknik oc ...; och Annan elektrotek ...

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