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Image-based control of satellite-mounted robot manipulators
Department of Physics, Systems Engineering and Signal Theory, University of Alicante.
Department of Physics, Systems Engineering and Signal Theory, University of Alicante.
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Space Technology.
Number of Authors: 3
2016 (English)In: Proceedings of 2016 7th International Conference on Mechanical and Aerospace Engineering, ICMAE 2016: London, United Kingdom, 18-20 July 2016, Piscataway, NU: IEEE Communications Society, 2016, 346-351 p., 7549564Conference paper, Published paper (Refereed)
Abstract [en]

Robot manipulators have multiple uses and are especially useful when dealing with complex manipulation tasks in unstructured environments. This paper presents a direct image-based controller for performing the guidance of a free-floating robot manipulator. A camera is attached to the end-effector of the manipulator and the robot is attached to a base satellite. The proposed direct image-based control strategy computes the torque to be applied to the joints, and takes into account the system's kinematics and dynamics model. The operation is such that 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 main objective is to track a desired trajectory in the image space with respect to an observed object in space. The proposed control strategy optimizes the motor commands with respect to a specified metric. The controller is applied to direct visual control of a four-degree-of-freedom robot manipulator.

Place, publisher, year, edition, pages
Piscataway, NU: IEEE Communications Society, 2016. 346-351 p., 7549564
National Category
Other Electrical Engineering, Electronic Engineering, Information Engineering
Research subject
Onboard space systems
Identifiers
URN: urn:nbn:se:ltu:diva-59839DOI: 10.1109/ICMAE.2016.7549564ISI: 000390417000066Scopus ID: 2-s2.0-84987956649OAI: oai:DiVA.org:ltu-59839DiVA: diva2:1038700
Conference
7th International Conference on Mechanical and Aerospace Engineering (ICMAE), London, 18-20 July 2016
Available from: 2016-10-19 Created: 2016-10-19 Last updated: 2017-10-19Bibliographically approved

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CiteExportLink to record
Permanent link

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Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf