Space robotics; Robotic manipulation; Robotics capabilities; Autonomous robotics; Vision-based system; Space manipulators; Visual servoing; Computer science
Abstract :
[en] In-Space Servicing, Assembly, and Manufacturing (ISAM) capabilities will power the next big step for enabling sustainable exploration and commercialization of space. Making these capabilities autonomous is a priority for the space industry. Visual Servoing (VS) is a promising approach to enable autonomy by using visual information to control the motion of a robot. This work presents a comparative study of four image-based VS (IBVS) approaches, evaluating their potential for autonomous robotic manipulation tasks in space; while demonstrating ISAM capabilities in a complex assembly scenario.
Research center :
Interdisciplinary Centre for Security, Reliability and Trust (SnT) > SpaceR – Space Robotics
Disciplines :
Computer science
Author, co-author :
AMAYA MEJIA, Lina Maria ; University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > Space Robotics
ORSULA, Andrej ; University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > Space Robotics
Ghita, Mohamed
OLIVARES MENDEZ, Miguel Angel ; University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > Space Robotics
MARTINEZ LUNA, Carol ; University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > Space Robotics
External co-authors :
yes
Language :
English
Title :
Evaluating Image-Based Visual Servoing Techniques for Robotic Manipulation In Space
