Ground verification of space robot capturing the free-floating target based on visual servoing control with time delay
Article publication date: 20 October 2014
The purpose of this paper is to solve the ground verification and test method for space robot system capturing the target satellite based on visual servoing with time-delay in 3-dimensional space prior to space robot being launched.
To implement the approaching and capturing task, a motion planning method for visual servoing the space manipulator to capture a moving target is presented. This is mainly used to solve the time-delay problem of the visual servoing control system and the motion uncertainty of the target satellite. To verify and test the feasibility and reliability of the method in three-dimensional (3D) operating space, a set of ground hardware-in-the-loop simulation verification systems is developed, which adopts the end-tip kinematics equivalence and dynamics simulation method.
The results of the ground hardware-in-the-loop simulation experiment validate the reliability of the eye-in-hand visual system in the 3D operating space and prove the validity of the visual servoing motion planning method with time-delay compensation. At the same time, owing to the dynamics simulator of the space robot added in the ground hardware-in-the-loop verification system, the base disturbance can be considered during the approaching and capturing procedure, which makes the ground verification system realistic and credible.
The ground verification experiment system includes the real controller of space manipulator, the eye-in-hand camera and the dynamics simulator, which can veritably simulate the capturing process based on the visual servoing in space and consider the effect of time delay and the free-floating base disturbance.
This project was supported, in part, by the National Program on Key Basic Research Project 973 Program under Grant 2013CB733103, Program for New Century Excellent Talents in University under Grant NCET-10-0058 and Self-Planned Task (No.SKLRS201206B) of Laboratory of Robotics and System (HIT).
Yang, H., Jin, M., Xie, Z., Sun, K. and Liu, H. (2014), "Ground verification of space robot capturing the free-floating target based on visual servoing control with time delay", Industrial Robot, Vol. 41 No. 6, pp. 543-556. https://doi.org/10.1108/IR-05-2014-0339
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