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Sensors 2016, 16(9), 1383; doi:10.3390/s16091383

Target Capturing Control for Space Robots with Unknown Mass Properties: A Self-Tuning Method Based on Gyros and Cameras

State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150000, China
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Authors to whom correspondence should be addressed.
Academic Editor: Dan Zhang
Received: 24 June 2016 / Revised: 24 August 2016 / Accepted: 25 August 2016 / Published: 30 August 2016
(This article belongs to the Special Issue Advanced Robotics and Mechatronics Devices)
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Abstract

Satellite capturing with free-floating space robots is still a challenging task due to the non-fixed base and unknown mass property issues. In this paper gyro and eye-in-hand camera data are adopted as an alternative choice for solving this problem. For this improved system, a new modeling approach that reduces the complexity of system control and identification is proposed. With the newly developed model, the space robot is equivalent to a ground-fixed manipulator system. Accordingly, a self-tuning control scheme is applied to handle such a control problem including unknown parameters. To determine the controller parameters, an estimator is designed based on the least-squares technique for identifying the unknown mass properties in real time. The proposed method is tested with a credible 3-dimensional ground verification experimental system, and the experimental results confirm the effectiveness of the proposed control scheme. View Full-Text
Keywords: free-floating space robot; autonomous target capturing; space robot modeling; self-tuning control; mass property estimation free-floating space robot; autonomous target capturing; space robot modeling; self-tuning control; mass property estimation
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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Li, Z.; Wang, B.; Liu, H. Target Capturing Control for Space Robots with Unknown Mass Properties: A Self-Tuning Method Based on Gyros and Cameras. Sensors 2016, 16, 1383.

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