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Reactionless visual servoing of a dual-arm space robot
A.H.A. Hafez, V.V. Anurag, , K.M. Krishna, C.V. Jawahar
Published in Institute of Electrical and Electronics Engineers Inc.
Pages: 4475 - 4480
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. © 2014 IEEE.
About the journal
JournalData powered by TypesetProceedings - IEEE International Conference on Robotics and Automation
PublisherData powered by TypesetInstitute of Electrical and Electronics Engineers Inc.