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�������պ����ѧѧ�� 2009, Vol. 35 Issue (7) :882-886    DOI:
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Visual aid for teleoperation applied to satellite on-orbit self-servicing
Zhang Guoliang, Liu Hong, Jiang Zainan, Wang Jie*
School of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150080, China

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Abstract�� To overcome effect of time delay on space robot teleoperation, a novel method of vision aid for teleoperation applied to satellite on-orbit self-servicing was presented. A vision-based shared control scheme was designed and implemented to deal with data transmission delay. The scheme consists of free space control and auto visual servo control. In the process of free space control, 3D graphic prediction simulation and real feedback video stream make teleoperator achieve the best telepresence experience. In the process of auto visual servo control, the visual servoing of redundant features eliminates system dependency on calibration accuracy and improves system intelligence. Finally, a typical satellite servicing experiment demonstrates the effectiveness of this method.
Keywords�� satellite self-servicing   space robot   3D graphic predictive simulation   visual servoing     
Received 2008-06-10;
Fund:

����"863"�߿Ƽ�������Ŀ(2006AA04Z225); ����ѧ�ߺʹ����Ŷӷ�չ�ƻ�������Ŀ

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�Ź���, �� ��, ������, �� ��.�Ӿ�����ң�����������ڹ���ά���е�Ӧ��[J]  �������պ����ѧѧ��, 2009,V35(7): 882-886
Zhang Guoliang, Liu Hong, Jiang Zainan, Wang Jie.Visual aid for teleoperation applied to satellite on-orbit self-servicing[J]  JOURNAL OF BEIJING UNIVERSITY OF AERONAUTICS AND A, 2009,V35(7): 882-886
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http://bhxb.buaa.edu.cn//CN/     ��     http://bhxb.buaa.edu.cn//CN/Y2009/V35/I7/882
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