Abstract
Space non-cooperative target measuring and capturing is an important apply objective for space manipulators. To resolve the position-pose measure and capturing problem, the characters of manipulator and target are analyzed. Considering the motion relation of manipulator, camera and target, the manipulator is controlled to arrive at pre-position for capturing based on space target position using stereo vision. Because of camera measure error and manipulator control precision single camera is used at the end capturing stage. The position and pose of manipulator can be adjusted accurately by vision-based servo method. The effectiveness of the capturing strategy is verified by the space target capturing experiment results for manipulator.
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