Authors: Benoit P. Larouche
Addresses: Space Engineering Design Laboratory, York University, 4700 Keele Street, Toronto, Ontario, M3J 1P3, Canada
Abstract: Vision-based control provides a flexible and adaptable sensor system capable of high levels of precision and accuracy over a large range of situations. The ability to mount a lightweight, low-cost, lower-power, non-destructive, no-contact sensor on a robotic manipulator and to employ it as a the sole sensor between acquisition and capture provides a vast field of opportunities in which on-orbit servicing can be a leader. In this paper, we will examine the use of just such a system during the most critical phase of on-orbit servicing, the capture.
Keywords: vision based control; space robotics; autonomous robots; spacecraft servicing; satellite robots; satellite capture; satellite servicing; on-orbit servicing; robot sensors; robotic manipulators; robot kinematics; vision based guidance; robot guidance; robot control; photogrammetry; target capture; non-cooperative targets; dynamic digital damping; visual compensation; weighted capture criteria.
International Journal of Space Science and Engineering, 2013 Vol.1 No.1, pp.96 - 111
Received: 30 Oct 2012
Accepted: 30 Oct 2012
Published online: 24 Jan 2013 *