Visual Detection and Servoing for Automated Docking of Unmanned Spacecraft

Cho, Sungwook; Huh, Sungsik; Shim, David Hyunchul

doi:10.2322/tastj.12.a107

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Cited by 5 publications

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“…Therefore, the total relative velocity command for stabilizing the host vehicle can be derived using Eq. (22) 12) . The total control system proposed in Fig.…”

mentioning

confidence: 99%

Development of a Vision-enabled Aerial Manipulator using a Parallel Robot

Cho

Shim

2017

AEROSPACE TECHNOLOGY JAPAN

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In this paper, we propose a novel type of aerial manipulation. The system proposed utilizes an eye-in-hand type of parallel manipulator with a visual sensor system attached on the end-effector. The aerial parallel manipulator can maximize the advantages of the serial manipulator while minimizing the combined shortcomings. In order to enhance these advantages, we derive the loosely coupled end-effector dynamics and apply them in the host vehicle utilizing a simple control law. Furthermore, we propose a vision-enabled end-effector control architecture based on the inverse kinematics of the parallel robot. The system proposed is verified and validated by performing a flight test.

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“…Therefore, the total relative velocity command for stabilizing the host vehicle can be derived using Eq. (22) 12) . The total control system proposed in Fig.…”

mentioning

confidence: 99%