Deployable space structures and on-orbit assembly are effective methods to build large spacecraft. However, limited by the launcher capacity, the former way is difficult to transport large-scale structures in one launch. While the on-orbit assembly is a feasible option for constructing ultra-large space structures in the future, and the robotic assembly of orbital structures is becoming a focus of orbital operations benefiting from its higher suitability, greater operational range and lower costs. It has always been a challenging and high-precision orbital manipulation task for space robots to grasp and assemble space structure modules. This paper presents a robot manipulation strategy based on visual servo to address the space structure assembly in real time. A position-based visual servo control law is designed using Aruco markers, and deployed experimentally according to the manipulation strategy. The experiment is carried out to grasp and assembly a floating truss structure to a fixed one by a UR5 robot with an eye-in-hand camera. The experimental results demonstrate the effectiveness of the proposed visual servo-based space assembly strategy.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Position-Based Visual Servo Control for Robotic Manipulation of Space Structures


    Additional title:

    Lect.Notes Mechanical Engineering


    Contributors:
    Rui, Xiaoting (editor) / Liu, Caishan (editor) / Wang, Yining (author) / Zhang, Wei (author) / Wen, Hao (author)

    Conference:

    International Conference on Mechanical System Dynamics ; 2023 ; Beijing, China September 01, 2023 - September 05, 2023



    Publication date :

    2024-06-18


    Size :

    9 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English






    Uncalibrated visual servo for unmanned aerial manipulation

    Santamaria Navarro, Àngel / Grosch Obregon, Patrick John / Lippiello, Vincenzo et al. | BASE | 2017

    Free access

    Uncalibrated visual servo for unmanned aerial manipulation

    Santamaria-Navarro, Àngel / Grosch, Patrick / Lippiello, Vincenzo et al. | BASE | 2017

    Free access

    Design of robotic visual servo control based on neural network and genetic algorithm

    Wang, H. B. / Liu, M. | British Library Online Contents | 2012