Optimal target grasping of a flexible space manipulator for a class of objectives

Calibration of visual model for space manipulator with a hybrid LM–GA algorithm

“…For this reason, after a camera hardware is selected, its locational accuracy can be further improved by optimizing the camera calibration model [9]. Since the camera calibration model of space manipulator is a nonlinear system in most cases, a new algorithm should be chosen to optimize its parameters to obtain a higher measurement accuracy.…”

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

“…Of course, due to Contents lists available at ScienceDirect journal homepage: www.elsevier.com/locate/actaastro the dynamic coupling between the manipulator and its base, the dynamics modelling and motion planning of a space robot are much more complicated than those of the fixed-base manipulators [7][8][9]. Moreover a very important problem concerns the elastic excitations of the solar panels during the grasping mission due to the control torques and the interactions with the target satellite that could cause the failure of the mission if not controlled.…”

Coordinated stabilization of tumbling targets using tethered space manipulators

“…Pisculli [31] designed a new control strategy involving a combination of reaction null and Jacobian transpose controllers, including also the gravity gradient compensation and compared it with the Jacobian transpose control and the conventional proportional derivative control. Toglia [32] suggested optimal target grasping of a flexible space manipulator for a class of objectives. In order to overcome problems of navigation errors and actuation delays, and changing light conditions or the presence of unexpected obstacles, a modified image-based visual servoing algorithm and an extended Kalman filtering for feature position estimation are developed and applied in [33].…”