Target capture for free-floating space robot based on binocular stereo vision

Abstract

As the dynamics of free-floating space robots are highly nonlinear, strongly coupled and nonholonomic constrained, the control methods for the terrestrial robot are not suitable for the free-floating space robot. At present, the control methods for the free-floating space robot are based on accurate dynamic model and need parameters identification. In this study, the dynamic model of the free-floating space robot is established and the binocular stereo vision feedback method to overcome the nonholonomic constrained characteristics that caused by the linear and angular momentum conservation theory is proposed. Then the freefloating space robot motion control method based on acceleration decomposition method is designed. Finally, the software of the free-floating space robot target capturing based on binocular stereo vision is developed and simulated. The simulation results show that the free-floating space robot based on binocular stereo vision can track a moving target in real time and ultimately can complete the target capture mission. The proposed control method provides a new effective method for the free-floating space robot capturing the target and avoiding the complex process of parameters identification for the space robot and also can effectively prevent the manipulator of the space robot in collision with the target. © 2011 Asian Network for Scientific Information.