Vision based Navigation, Guidance and Control of 6 DOF Robotic manipulator for Space Berthing application

Le résumé fourni par la source

Berthing of the spacecraft with non cooperative targets are gaining interest in recent days. Space robotics is considered one of the most promising approaches for missions such as docking, re-fuelling, repairing, upgrading, transporting, rescuing, and orbital debris removal. Many enabling techniques have been developed in the past two decades and several technology demonstration missions have been completed. A number of manned on-orbit servicing missions were successfully accomplished but unmanned, fully autonomous, non-co-operative servicing missions have not been done yet. With the advent of advanced image processing algorithm and its hardware implementation made it possible to perform robotic arm actuations in space for berthing with on orbit satellite. Usually the robotic arm will be equipped by a small camera which will track the target. Here the usage of colour marker is useful as it can be detected and tracked faster with less amount of processing. One of the greatest challenges is to ensure the servicing spacecraft safely and reliably docks with the target spacecraft or capture the target to stabilize it for subsequent berthing. This is especially important if the target has an unknown motion and kinematics/ dynamics.

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