Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
4948777 | Robotics and Autonomous Systems | 2017 | 24 Pages |
Abstract
This paper presents a novel and generic reactionless visual servo controller for a satellite-based multi-arm space robot. The controller is designed to complete the task of visually servoing the robot's end-effectors to a desired pose, while maintaining minimum attitude disturbance on the base-satellite. Task function approach is utilized to coordinate the servoing process and attitude of the base satellite. A redundancy formulation is used to define the tasks. The visual serving 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 defined through a quadratic optimization problem, in such a way that it does not affect the primary task, and simultaneously minimizes its cost function. Stability analysis of the proposed control methodology is also discussed. A set of numerical experiments are carried out on different multi-arm space robotic systems. These systems are a planar dual-arm robot, a spatial dual-arm robot, and a three-arm planar robot. The results of the simulation experiments show efficacy, generality and applicability of the proposed control methodology.
Related Topics
Physical Sciences and Engineering
Computer Science
Artificial Intelligence
Authors
A.H. Abdul Hafez, P. Mithun, V.V. Anurag, S.V. Shah, K. Madhava Krishna,