Deployable space manipulator commanded by means of visual-based guidance and navigation

Position-based visual servo control of autonomous robotic manipulators

“…Combining with the inner closed-loop control of robotic manipulator, the visual estimation of pose and motion of a target as well as the control errors in 3D space forms an outer closed-loop control. It is worth pointing out that the effectiveness of EKF in improving the robustness of visual servo [32,33] has also been demonstrated in IBVS. For instance, the EKF introduced in the image space not only improves the estimation accuracy of target's kinematics state but also substitutes state estimates when the target is lost locking [33].…”

“…It is worth pointing out that the effectiveness of EKF in improving the robustness of visual servo [32,33] has also been demonstrated in IBVS. For instance, the EKF introduced in the image space not only improves the estimation accuracy of target's kinematics state but also substitutes state estimates when the target is lost locking [33]. These works showed that the introduction of EKF into IBVS is effective to prevent the tracking failure in a dynamic situation due to image noises and actuation delay.…”

“…Extended Kalman filter was introduced into the IBVS algorithm to address the navigation errors and actuation delays [32]. The perturbation to eye-in-hand cameras by the flexibility of robotic manipulator [33] was investigated to enhance the robustness of IBVS algorithm. However, the IBVS lacks 3D depth information of a target and additional measure is required to estimate the depth.…”

Dynamic/control interactions between flexible orbiting space-robot during grasping, docking and post-docking manoeuvres

“…As a matter of fact to stabilize the satellite's attitude during the operation of the satellite mounted robot arm, the controls must be implemented in order to (a) control the satellite's attitude against the robotic-arm's reaction; (b) control the satellitemounted robotic arms in order not to generate excess reaction against the satellite itself; and (c) control the robotic arm's motion without disturbing the dynamics of the flexible appendages (i.e., the solar arrays) too much. Several papers about the concept and the design of these coordinated controls when the rigid and the flexible motion interact each other were introduced by the present authors in the past [15][16][17][18]. In these papers very complex dynamics systems under the action of gravity, gravity gradient, control and disturbances forces were analyzed.…”

Means of Robotic Support for On-Orbit Servicing

“…Based on the stated above, we can claim that the search for technical solutions for the creation of servicing satellites equipped with MRS [17], which are able to perform an orbital spacecraft service operations, is a relevant for on-orbit servicing and high demand task.…”