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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...
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,...
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...
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