M. Jin, Haitao Yang, Zongwu Xie, Kui Sun, Hong Liu
{"title":"空间机器人视觉伺服控制地基验证系统","authors":"M. Jin, Haitao Yang, Zongwu Xie, Kui Sun, Hong Liu","doi":"10.1109/ICMA.2013.6618147","DOIUrl":null,"url":null,"abstract":"Owing to the high cost and risks of robotic tasks in space, space robots require that all procedures should be strictly verified and tested before launching. A ground-based multi-loop simulation verification testbed has been developed which can validate and test the visual servoing system for free-floating space robot to capture the target satellite in 3-dimensional space. The verification testbed which includes the real hardware and the simulation software adopts the method of kinematics equivalence and multi-loop simulation. Finally, the multi-loop simulation experimental results demonstrate the effectness of the ground verification testbed and validate the correctness and accuracy of the eye-in-hand visual servoing system in the 3-dimensional space.","PeriodicalId":335884,"journal":{"name":"2013 IEEE International Conference on Mechatronics and Automation","volume":"118 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2013-10-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"9","resultStr":"{\"title\":\"The ground-based verification system of visual servoing control for a space robot\",\"authors\":\"M. Jin, Haitao Yang, Zongwu Xie, Kui Sun, Hong Liu\",\"doi\":\"10.1109/ICMA.2013.6618147\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Owing to the high cost and risks of robotic tasks in space, space robots require that all procedures should be strictly verified and tested before launching. A ground-based multi-loop simulation verification testbed has been developed which can validate and test the visual servoing system for free-floating space robot to capture the target satellite in 3-dimensional space. The verification testbed which includes the real hardware and the simulation software adopts the method of kinematics equivalence and multi-loop simulation. Finally, the multi-loop simulation experimental results demonstrate the effectness of the ground verification testbed and validate the correctness and accuracy of the eye-in-hand visual servoing system in the 3-dimensional space.\",\"PeriodicalId\":335884,\"journal\":{\"name\":\"2013 IEEE International Conference on Mechatronics and Automation\",\"volume\":\"118 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2013-10-03\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"9\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2013 IEEE International Conference on Mechatronics and Automation\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICMA.2013.6618147\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2013 IEEE International Conference on Mechatronics and Automation","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICMA.2013.6618147","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
The ground-based verification system of visual servoing control for a space robot
Owing to the high cost and risks of robotic tasks in space, space robots require that all procedures should be strictly verified and tested before launching. A ground-based multi-loop simulation verification testbed has been developed which can validate and test the visual servoing system for free-floating space robot to capture the target satellite in 3-dimensional space. The verification testbed which includes the real hardware and the simulation software adopts the method of kinematics equivalence and multi-loop simulation. Finally, the multi-loop simulation experimental results demonstrate the effectness of the ground verification testbed and validate the correctness and accuracy of the eye-in-hand visual servoing system in the 3-dimensional space.