Reactionless visual servoing of a dual-arm space robot

Hafez, A. H. Abdul; Anurag, V. V.; Shah, Suril V.; Krishna, K. Madhava; Jawahar, C. V.

doi:10.1109/icra.2014.6907512

Cited by 15 publications

(7 citation statements)

References 18 publications

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“…Due to the desirability of maintaining a stable spacecraft attitude in freefloaters, many efforts have focussed on minimising reaction disturbances from the manipulator to the mounting base, e.g., visual servoing requires stabilisation of spacecraft attitude [137]. The implementation of cycling motion superimposed over the desired trajectory acts equivalently to a set of reaction wheels [138], but this introduces the potential for collision in grasping a target.…”

Section: Freeflyer Manipulator Kinematicsmentioning

confidence: 99%

Tutorial Review on Space Manipulators for Space Debris Mitigation

Ellery

2019

Robotics

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Space-based manipulators have traditionally been tasked with robotic on-orbit servicing or assembly functions, but active debris removal has become a more urgent application. We present a much-needed tutorial review of many of the robotics aspects of active debris removal informed by activities in on-orbit servicing. We begin with a cursory review of on-orbit servicing manipulators followed by a short review on the space debris problem. Following brief consideration of the time delay problems in teleoperation, the meat of the paper explores the field of space robotics regarding the kinematics, dynamics and control of manipulators mounted onto spacecraft. The core of the issue concerns the spacecraft mounting which reacts in response to the motion of the manipulator. We favour the implementation of spacecraft attitude stabilisation to ease some of the computational issues that will become critical as increasing level of autonomy are implemented. We review issues concerned with physical manipulation and the problem of multiple arm operations. We conclude that space robotics is well-developed and sufficiently mature to tackling tasks such as active debris removal.

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Section: Freeflyer Manipulator Kinematicsmentioning

confidence: 99%

Tutorial Review on Space Manipulators for Space Debris Mitigation

Ellery

2019

Robotics

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“…Furthermore, Equation (24) has to be expressed in the invariant space as: (38) where it is necessary to calculate the value of for each invariant feature. An useful expression of each can be obtained by considering the time derivative of Equation (37) as follows:…”

Section: Visual Servoing In the Invariant Spacementioning

confidence: 99%

“…The utilization of LIDARs as main sensors for close approaches to uncooperative objects has been explored in [24], [25] and [26]. Further, a combined algorithm which uses vision-based predictions and motion planning for the actuation of robotic arms during the pre and post grasping phases is presented in [27] and the application of visual servoing techniques to a dual arm robotic system is also investigated in [28].…”

Section: Introductionmentioning

confidence: 99%

“…Further, the direct image-based visual servoing approaches existing in literature do not consider the orbital and attitude dynamics of the spacecraft as well as the real configuration of sensors and actuators, see e.g. [38][39] [40]. In contrast, the inclusion of the spacecraft attitude and orbital dynamics in an image-based controller is addressed in this paper.…”

Section: Introductionmentioning

confidence: 99%

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Concurrent image-based visual servoing with adaptive zooming for non-cooperative rendezvous maneuvers

Pomares

Felicetti

Pérez

et al. 2018

Advances in Space Research

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An image-based servo controller for the guidance of a spacecraft during non-cooperative rendezvous is presented in this paper. The controller directly utilizes the visual features from image frames of a target spacecraft for computing both attitude and orbital maneuvers concurrently. The utilization of adaptive optics, such as zooming cameras, is also addressed through developing an invariant-image servo controller. The controller allows for performing rendezvous maneuvers independently from the adjustments of the camera focal length, improving the performance and versatility of maneuvers. The stability of the proposed control scheme is proven analytically in the invariant space, and its viability is explored through numerical simulations.

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“…The research for this paper originated in the search for a motion planner for a non-holonomic dual-arm robotic system (similar to [1]). Such planners are expected to derive an optimal motion plan from the initial configuration to the goal configuration while satisfying certain motion constraints.…”

Section: Introductionmentioning

confidence: 99%

RRT-HX: RRT With Heuristic Extend Operations for Motion Planning in Robotic Systems

Pareekutty

James

Ravindran

et al. 2016

Volume 5A: 40th Mechanisms and Robotics Conference

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This paper presents a sampling-based method for path planning in robotic systems without known cost-to-go information. It uses trajectories generated from random search to heuristically learn the cost-to-go of regions within the configuration space. Gradually, the search is increasingly directed towards lower cost regions of the configuration space, thereby producing paths that converge towards the optimal path. The proposed framework builds on Rapidly-exploring Random Trees for random sampling-based search and Reinforcement Learning is used as the learning method. A series of experiments were performed to evaluate and demonstrate the performance of the proposed method.

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Reactionless visual servoing of a dual-arm space robot

Cited by 15 publications

References 18 publications

Tutorial Review on Space Manipulators for Space Debris Mitigation

Tutorial Review on Space Manipulators for Space Debris Mitigation

Concurrent image-based visual servoing with adaptive zooming for non-cooperative rendezvous maneuvers

RRT-HX: RRT With Heuristic Extend Operations for Motion Planning in Robotic Systems

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