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Direct image-based visual servoing of free-floating space manipulators
University of Alicante.
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Space Technology.
University of Alicante.
Number of Authors: 3
2016 (English)In: Aerospace Science and Technology, ISSN 1270-9638, E-ISSN 1626-3219, Vol. 55, 1-9 p.Article in journal (Refereed) Published
Abstract [en]

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.

Place, publisher, year, edition, pages
2016. Vol. 55, 1-9 p.
National Category
Other Electrical Engineering, Electronic Engineering, Information Engineering
Research subject
Onboard space systems
Identifiers
URN: urn:nbn:se:ltu:diva-7454DOI: 10.1016/j.ast.2016.05.012ISI: 000381653900001Local ID: 5d5ec713-dd83-4bf0-b385-b58ca03e2320OAI: oai:DiVA.org:ltu-7454DiVA: diva2:980343
Note

Validerad; 2016; Nivå 2; 20160518 (andbra)

Available from: 2016-09-29 Created: 2016-09-29 Last updated: 2017-11-21Bibliographically approved

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  • apa
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  • de-DE
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  • en-US
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  • nn-NO
  • nn-NB
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  • Other locale
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