Evaluating Image-Based Visual Servoing Techniques for Robotic Manipulation In Space
摘要
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.