DocumentCode :
250905
Title :
Reactionless visual servoing of a dual-arm space robot
Author :
Abdul Hafez, A.H. ; Anurag, V.V. ; Shah, S.V. ; Krishna, K. Madhava ; Jawahar, C.V.
Author_Institution :
Int. Inst. of Inf. Technol., Hyderabad, India
fYear :
2014
fDate :
May 31 2014-June 7 2014
Firstpage :
4475
Lastpage :
4480
Abstract :
This paper presents a novel visual servoing controller for a satellite mounted dual-arm space robot. The controller is designed to complete the task of servoing the robot´s endeffectors to the desired pose, while regulating orientation of the base-satellite. Task redundancy approach is utilized to coordinate the servoing process and attitude of the base satellite. The visual task is defined as a primary task, while regulating attitude of the base satellite to zero is defined as a secondary task. The secondary task is formulated as an optimization problem in such a way that it does not affect the primary task, and simultaneously minimizes its cost function. A set of numerical experiments are carried out on a dual-arm space robot showing efficacy of the proposed control methodology.
Keywords :
aerospace robotics; control system synthesis; end effectors; redundancy; visual servoing; base satellite; cost function; end effectors; optimization problem; reactionless visual servoing controller design; satellite mounted dual-arm space robot; task redundancy; visual task; Jacobian matrices; Joints; Manipulators; Robot kinematics; Satellites; Visual servoing;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation (ICRA), 2014 IEEE International Conference on
Conference_Location :
Hong Kong
Type :
conf
DOI :
10.1109/ICRA.2014.6907512
Filename :
6907512
Link To Document :
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