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.
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ODA M. ETS-VII: achievements.[J].troubles and future Proc of the 6th International Symposium on Artificial Intelligence and Robotics & Automation in Space: i-SAIRAS. Quebec, Canada: Canadian Space Agency.2001,:-
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