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In this paper, a novel method for measuring the relative pose of the triangular feature with unknown size is proposed by introducing line structured light. Firstly, the coordinate system model is established, and the relative relationship between each coordinate system is given; Secondly, by using the isosceles property of the triangular bracket and the line structured light constraint, three vertices'...
In final approach of rendezvous between a space robot and a non-cooperative target, due to the light and the folds of heat cladding materials on the target surface, the edge of target cannot be accurately extracted by classic Canny algorithm and we are unable to complete measurement of relative position and attitude. To solve this problem, the measurement method of relative position and attitude between...
Robotic systems are expected to play an increasingly important role in future space activities with the development of space technology. The robotic on-orbital service, whose key is the capturing technology, becomes research hot in recent years. This paper focuses on the guidance of a robot manipulator to capture a spinning satellite with unknown dynamics parameters. In capturing a spinning satellite,...
In order to perform the on-orbit servicing mission, the robotic system is firstly required to approach and dock with the target autonomously, for which the measurement of relative pose is the key. It is a challenging task since the existing GEO satellites are generally non-cooperative, i.e. no artificial mark is mounted to aid the measurement. In this paper, a method based on natural features is proposed...
In final approach of rendezvous between a space robot and a large non-cooperative target, a single camera of the space robot can not observe a whole feature image of the large target to measure relative pose (attitude and position). To overcome this problem, a structured light is introduced to aid measurement. A partial rectangular framework of the target is chosen as measurement object. Firstly,...
Due to failure of mechanisms to deploy, some large communication satellites lost their ability and resulted in huge economic cost. A space robotic system is expected to perform the on-orbit repairing mission. It is a tremendous challenge to navigate a space robot in final approach since the targets are generally non-cooperative. Rectangle features, which are common in the configuration of a satellite,...
The failures of GEO (Geostationary Orbit) spacecrafts will result in large economic cost and other bad impacts. In this paper, we propose a space robotic servicing concept, and present the design of the corresponding system. The system consists of a 7-DOF redundant manipulator, a 2-DOF docking mechanism, a set of stereo vision and general subsystems of a spacecraft platform. This system can serve...
A new real-time simulation system is developed based on the Real Time Workshop (RTW) and real-time operation system VxWorks. The whole model of satellite is defined, which is proved by simulation in Simulink. This model is divided into two parts. One part is the attitude and orbit controller, i.e., attitude and orbit control system (AOCS), named AOCS model. The other is the external model of AOCS,...
An autonomous navigation method for GEO satellites is presented. This method takes advantage of the characteristics of GEO satellites to overcome the shortcoming of the X-ray pulsar measurements: The satellite's orbit dynamics equation is built up in the Earth-fixed reference frame, so that the equation is weakly non-linear and the extended Kalman filter (EKF) is used in this method in spite of the...
This paper presents the Dual Arm Free-flying Space Robotic System (DAFSR) which is developed for On-Orbit Servicing to GEO stationary satellite. DAFSR consists of free-flying platform, target detecting system and two space manipulators. In this paper, the mission schedule and the design of the system are described in detail, as well as the target detecting system and the ground tele-operational system...
In recent years, some communication satellites lost their ability due to failure of mechanisms to deploy, resulting in large cost. A space robotic system is expected to perform the on-orbit repairing mission. This is a tremendous challenge since the targets are generally non-cooperative, i.e. not any artificial patterns used for the measurement are mounted on the targets. Moreover, these targets are...
A typical servicing operation in space mainly includes three phases: capturing the target, re-orientating of the whole system with the target, and repairing the target. The attitude of a satellite usually changes after the capturing, because the control system is turned off during this phase for safety reasons. In this paper, a method is proposed to achieve re-orientating the space robot system, planning...
A new fault tolerant robotic central controller with dual processing modules is introduced. Each processing module is composed of 32 bit ARM RISC processor and other commercial-off-the-shelf (COTS) devices. As well as, a set of fault handling mechanisms is implemented in the robotic central controller, which can tolerate a single fault. The robotic central controller software based on VxWorks is organized...
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