Target Capturing Control for Space Robots with Unknown Mass Properties: A Self-Tuning Method Based on Gyros and Cameras
Satellite capturing with free-floating space robots is still a challenging task due to the non-fixed base and unknown mass property issues. In this paper gyro and eye-in-hand camera data are adopted as an alternative choice for solving this problem. For this improved system, a new modeling approach...
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Online Access: | http://www.mdpi.com/1424-8220/16/9/1383 |
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doaj-f003cec9179a41c592af06c30ff3548f2020-11-24T20:53:06ZengMDPI AGSensors1424-82202016-08-01169138310.3390/s16091383s16091383Target Capturing Control for Space Robots with Unknown Mass Properties: A Self-Tuning Method Based on Gyros and CamerasZhenyu Li0Bin Wang1Hong Liu2State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150000, ChinaState Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150000, ChinaState Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150000, ChinaSatellite capturing with free-floating space robots is still a challenging task due to the non-fixed base and unknown mass property issues. In this paper gyro and eye-in-hand camera data are adopted as an alternative choice for solving this problem. For this improved system, a new modeling approach that reduces the complexity of system control and identification is proposed. With the newly developed model, the space robot is equivalent to a ground-fixed manipulator system. Accordingly, a self-tuning control scheme is applied to handle such a control problem including unknown parameters. To determine the controller parameters, an estimator is designed based on the least-squares technique for identifying the unknown mass properties in real time. The proposed method is tested with a credible 3-dimensional ground verification experimental system, and the experimental results confirm the effectiveness of the proposed control scheme.http://www.mdpi.com/1424-8220/16/9/1383free-floating space robotautonomous target capturingspace robot modelingself-tuning controlmass property estimation |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Zhenyu Li Bin Wang Hong Liu |
spellingShingle |
Zhenyu Li Bin Wang Hong Liu Target Capturing Control for Space Robots with Unknown Mass Properties: A Self-Tuning Method Based on Gyros and Cameras Sensors free-floating space robot autonomous target capturing space robot modeling self-tuning control mass property estimation |
author_facet |
Zhenyu Li Bin Wang Hong Liu |
author_sort |
Zhenyu Li |
title |
Target Capturing Control for Space Robots with Unknown Mass Properties: A Self-Tuning Method Based on Gyros and Cameras |
title_short |
Target Capturing Control for Space Robots with Unknown Mass Properties: A Self-Tuning Method Based on Gyros and Cameras |
title_full |
Target Capturing Control for Space Robots with Unknown Mass Properties: A Self-Tuning Method Based on Gyros and Cameras |
title_fullStr |
Target Capturing Control for Space Robots with Unknown Mass Properties: A Self-Tuning Method Based on Gyros and Cameras |
title_full_unstemmed |
Target Capturing Control for Space Robots with Unknown Mass Properties: A Self-Tuning Method Based on Gyros and Cameras |
title_sort |
target capturing control for space robots with unknown mass properties: a self-tuning method based on gyros and cameras |
publisher |
MDPI AG |
series |
Sensors |
issn |
1424-8220 |
publishDate |
2016-08-01 |
description |
Satellite capturing with free-floating space robots is still a challenging task due to the non-fixed base and unknown mass property issues. In this paper gyro and eye-in-hand camera data are adopted as an alternative choice for solving this problem. For this improved system, a new modeling approach that reduces the complexity of system control and identification is proposed. With the newly developed model, the space robot is equivalent to a ground-fixed manipulator system. Accordingly, a self-tuning control scheme is applied to handle such a control problem including unknown parameters. To determine the controller parameters, an estimator is designed based on the least-squares technique for identifying the unknown mass properties in real time. The proposed method is tested with a credible 3-dimensional ground verification experimental system, and the experimental results confirm the effectiveness of the proposed control scheme. |
topic |
free-floating space robot autonomous target capturing space robot modeling self-tuning control mass property estimation |
url |
http://www.mdpi.com/1424-8220/16/9/1383 |
work_keys_str_mv |
AT zhenyuli targetcapturingcontrolforspacerobotswithunknownmasspropertiesaselftuningmethodbasedongyrosandcameras AT binwang targetcapturingcontrolforspacerobotswithunknownmasspropertiesaselftuningmethodbasedongyrosandcameras AT hongliu targetcapturingcontrolforspacerobotswithunknownmasspropertiesaselftuningmethodbasedongyrosandcameras |
_version_ |
1716798067565395968 |