On-orbit Free-floating Manipulation using a Two-arm Robotic System

Jose Ramon, Jorge Pomares, Leonard Felicetti

2021

Abstract

A direct visual-servoing algorithm is proposed for the control of a space-based two-arm manipulator. The scenario under consideration assumes that one of the arms performs the manipulation task while the second one has an in-hand camera to observe the target zone of manipulation. The algorithm uses both the camera images and the force/torque measurements as inputs to calculate the control action to move the arms to perform a manipulation task. The algorithm integrates the multibody dynamics of the robotic system in a visual servoing framework that uses de-localized cameras. Impedance control is then used to compensate for eventual contact reactions when the end effector touches and operates the target body. Numerical results demonstrate the suitability of the proposed algorithm in specific tasks used in on-orbit servicing operations.

Paper Citation

in Harvard Style

Ramon J., Pomares J. and Felicetti L. (2021). On-orbit Free-floating Manipulation using a Two-arm Robotic System. In Proceedings of the 2nd International Conference on Robotics, Computer Vision and Intelligent Systems - Volume 1: ROBOVIS, ISBN 978-989-758-537-1, pages 57-63. DOI: 10.5220/0010712100003061

in Bibtex Style

@conference{robovis21,
author={Jose Ramon and Jorge Pomares and Leonard Felicetti},
title={On-orbit Free-floating Manipulation using a Two-arm Robotic System},
booktitle={Proceedings of the 2nd International Conference on Robotics, Computer Vision and Intelligent Systems - Volume 1: ROBOVIS,},
year={2021},
pages={57-63},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0010712100003061},
isbn={978-989-758-537-1},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 2nd International Conference on Robotics, Computer Vision and Intelligent Systems - Volume 1: ROBOVIS,
TI - On-orbit Free-floating Manipulation using a Two-arm Robotic System
SN - 978-989-758-537-1
AU - Ramon J.
AU - Pomares J.
AU - Felicetti L.
PY - 2021
SP - 57
EP - 63
DO - 10.5220/0010712100003061