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GNC architecture solutions for robust operations of a free-floating space manipulator via image based visual servoing

机译：GNC架构通过基于图像的视觉伺服的自由浮动空间机械手的鲁棒操作解决方案

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On-orbit servicing often requires the use of robotic arms, and a key asset in this kind of operations is autonomy. In this framework, the use of optical devices is a solution, already analyzed in many researches both for autonomous rendezvous and docking and for the evaluation of the control of the manipulator. In the present paper, simulations for assessing the controller performance are realized in a high-fidelity purposely developed software architecture, in which not only the selected 6 DOF space manipulator is modeled, but also a virtual camera, acquiring in the loop images of the target CAD model imported, is included in the GNC loop. This approach allows to emphasis several problems that would not emerge in simulations with ideal images. At the scope, a specific GNC architecture is developed, based on finite-state machine logic. According to this approach, two different IBVS strategies are alternatively performed, commanding only linear or angular velocity of the camera, switching between the two control techniques when the "stack" or "divergence" condition is triggered. In this way a stable and robust accomplishment of the tasks is achieved for many configurations and for different target models.
机译：在轨道维修通常需要使用机器人武器，并且这种操作中的关键资产是自主权。在该框架中，使用光学器件是一种解决方案，已经在许多研究中分析了自主的Rendezvous和对接以及评估操纵器的控制。在本文中，用于评估控制器性能的仿真在高保真的目的开发的软件架构中实现，其中不仅是所选择的6个DOF空间机械手是建模的，而且是一个虚拟摄像机，在目标的循环图像中获取导入的CAD模型，包含在GNC循环中。这种方法允许强调具有理想图像的模拟中不会出现的几个问题。在范围内，基于有限状态机逻辑开发了特定的GNC架构。根据这种方法，替代地执行两个不同的IBVS策略，仅命令相机的线性或角速度，当触发“堆叠”或“发散”条件时，在两个控制技术之间切换。以这种方式，对于许多配置和不同的目标模型，实现了对任务的稳定和强大的完成。

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