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Concentrating on the measurement of triangular span, we present a novel detection method of arbitrary triangles for Tethered Space Robot in this paper, which is based on line extraction. Line segments are extracted firstly from the ROI containing triangular span. The distance of lines' endpoints and the proportion of gap areas to the whole area are used to acquire triangle candidates. Then we adopt...
Aiming at the problems resulted from small template matching with large scene, such as low robust and long time-consumption, we propose a novel template matching algorithm. First, we define a similarity method called Normalized SAD, which is then followed by an improved matching criterion using grey and gradient values arranged into hollow annulus structure. Hollow structure can help decrease the...
The problem of detumbling a tethered space robot-target combination system after the target is captured by the tethered space robot (TSR) is studied in this paper. Firstly, the dynamic model of the combination system is established. In order to stabilize the combination, the space tether is utilized to control the attitude. The configuration of the manipulator is designed to change the control torques...
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