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

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Fältnamn	Indikatorer	Metadata
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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Av författaren/redakt...: Alepuz, Javier P ...; Emami, Reza; Pomares, Jorge

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

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Av lärosätet: Luleå tekniska universitet

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