This paper presents a novel visual servoing controller for a satellite mounted dual-arm space robot. The controller is designed to complete the task of servoing the robot's endeffectors to the desired pose, while regulating orientation of the base-satellite. Task redundancy approach is utilized to coordinate the servoing process and attitude of the base satellite. The visual task is defined as a primary task, while regulating attitude of the base satellite to zero is defined as a secondary task. The secondary task is formulated as an optimization problem in such a way that it does not affect the primary task, and simultaneously minimizes its cost function. A set of numerical experiments are carried out on a dual-arm space robot showing efficacy of the proposed control methodology.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Reactionless visual servoing of a dual-arm space robot


    Beteiligte:
    Hafez, A. H. Abdul (Autor:in) / Anurag, V. V. (Autor:in) / Shah, S. V. (Autor:in) / Krishna, K. Madhava (Autor:in) / Jawahar, C. V. (Autor:in)


    Erscheinungsdatum :

    01.05.2014


    Format / Umfang :

    859641 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Reactionless Winch

    Boswell, B. E. | NTRS | 1985


    Reactionless Maneuvering of a Space Robot in Precapture Phase

    James, Francis / Shah, Suril V. / Singh, Arun K. et al. | AIAA | 2016



    Reactionless free-spinning motor with dual propellers

    THRUN SEBASTIAN / SAUNDERS CHRISTOPHER SCOTT / BERRY BENJAMIN OTTO | Europäisches Patentamt | 2021

    Freier Zugriff

    REACTIONLESS FREE-SPINNING MOTOR WITH DUAL PROPELLERS

    THRUN SEBASTIAN / SAUNDERS CHRISTOPHER SCOTT / BERRY BENJAMIN OTTO | Europäisches Patentamt | 2021

    Freier Zugriff