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Reactionless visual servoing of a multi-arm space robot combined with other manipulation tasks
A.H. Abdul Hafez, P. Mithun, V.V. Anurag, , K.M. Krishna
Published in Elsevier B.V.
Volume: 91
Pages: 1 - 10
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. © 2016 Elsevier B.V.
About the journal
JournalData powered by TypesetRobotics and Autonomous Systems
PublisherData powered by TypesetElsevier B.V.
Open AccessNo