首页|Two-phase visual servoing for capturing tumbling non-cooperative satellites with a space manipulator
Two-phase visual servoing for capturing tumbling non-cooperative satellites with a space manipulator
扫码查看
点击上方二维码区域，可以放大扫码查看
原文链接
万方数据
维普
Two-phase visual servoing for capturing tumbling non-cooperative satellites with a space manipulator
In this paper,a visual servoing approach is developed to capture the docking rings of tumbling non-cooperative satellites with a space manipulator.The primary challenge addressed is the potential for the docking ring to leave the monocular camera's field-of-view as the manipulator approaches the target,due to the ring's large size.To solve this issue,a two-phase visual servoing scheme combining a monocular camera and a three-line structured light vision system is proposed.In an effort to augment the success rate and safety of capture operations,several constraints are formulated,encompassing manipulator's kinematics,monocular camera's field-of-view,obstacle avoidance,structured light's breakpoints and smooth capture.Subsequently,a nonlinear model predictive controller is proposed to manage these constraints in real-time and regulate the system.System models are established based on image moments and pose for each phase,selecting these features as visual feedback to simplify the formulation of servo constraints and avoid the complex circle-based pose measurement.Furthermore,to ensure unbiased predictions,the model distur-bances arising from the imprecise estimation of target motion parameter are observed using an extended Kalman filter,which are then incorporated into the predictive control framework.The simulation results demonstrate the effectiveness of this scheme.
Space manipulatorTumbling non-cooperative satelliteVisual servoingModel predictive controlDisturbance estimation
Dezhi ZHANG、Guocai YANG、Yongjun SUN、Junhong JI、Minghe JIN、Hong LIU
展开 >
State Key Laboratory of Robotics and System,Harbin Institute of Technology,Harbin 150001,China
Space manipulator Tumbling non-cooperative satellite Visual servoing Model predictive control Disturbance estimation
万方数据
维普
