The ground-based verification system of visual servoing control for a space robot

摘要

Owing to the high cost and risks of robotic tasks in space, space robots require that all procedures should be strictly verified and tested before launching. A ground-based multi-loop simulation verification testbed has been developed which can validate and test the visual servoing system for free-floating space robot to capture the target satellite in 3-dimensional space. The verification testbed which includes the real hardware and the simulation software adopts the method of kinematics equivalence and multi-loop simulation. Finally, the multi-loop simulation experimental results demonstrate the effectness of the ground verification testbed and validate the correctness and accuracy of the eye-in-hand visual servoing system in the 3-dimensional space.