Incremental inverse kinematics based vision servo for autonomous robotic capture of non-cooperative space debris

• Published in: Advances in space research Vol. 57; no. 7; pp. 1508 - 1514
• Main Authors: Dong, Gangqi, Zhu, Z.H.
• Format: Journal Article
• Language: English
• Published: Elsevier Ltd 01.04.2016
• Subjects: Active debris removal; Autonomous capture; Inverse kinematics; Manipulators; Non-cooperative target; Robot arms; Robotics; Robustness; Servomechanisms; Space debris; Space robotic manipulator; Vision; Vision systems; Visual servo; Visual servo; Active debris removal; Non-cooperative target; Autonomous capture; Space debris; Space robotic manipulator

•Incremental inverse kinematics of visual servo robotic manipulator for autonomous capture of a non-cooperative target.•Integrated photogrammetry and extended Kalman filter algorithm for pose and motion estimation.•Hardware-in-the-loop simulation to validate the proposed control scheme. This paper p...