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

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Title: Direct image-based visual servoing of free-floating space manipulators
Authors: Pérez Alepuz, Javier | Emami, M. Reza | Pomares, Jorge
Research Group/s: Automática, Robótica y Visión Artificial
Center, Department or Service: Universidad de Alicante. Departamento de Física, Ingeniería de Sistemas y Teoría de la Señal
Keywords: Visual servoing | Free-floating manipulator | Space manipulator | Model-based control
Knowledge Area: Ingeniería de Sistemas y Automática
Issue Date: Aug-2016
Publisher: Elsevier
Citation: Aerospace Science and Technology. 2016, 55: 1-9. doi:10.1016/j.ast.2016.05.012
Abstract: 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.
Sponsor: Research supported by the Spanish Ministry of Economy through the research project DPI2015-68087-R.
ISSN: 1270-9638 (Print) | 1626-3219 (Online)
DOI: 10.1016/j.ast.2016.05.012
Language: eng
Type: info:eu-repo/semantics/article
Rights: © 2016 Elsevier Masson SAS
Peer Review: si
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