NDLI: An adaptive observer for a spacecraft–manipulator system using a camera mounted on its spacecraft

Content Provider	Springer Nature Link
Author	Taira, Yuichiro Sagara, Shinichi Oya, Masahiro
Copyright Year	2016
Abstract	This paper deals with a motion control system for a space robot with a manipulator. Many motion controllers require the positions of the robot body and the manipulator hand with respect to an inertial coordinate system. In order to measure them, a visual sensor using a camera is frequently used. However, there are two difficulties in measuring them by means of a camera. The first one is that a camera is mounted on the robot body, and hence it is difficult to directly measure the position of the robot body by means of it. The second one is that the sampling period of a vision system with a general-purpose camera is much longer than that of a general servo system. In this paper, we develop an adaptive state observer that overcomes the two difficulties. In order to investigate its performance, we design a motion control system that is constructed by combining the observer with a PD control input, and then conduct numerical simulations for the control system. Simulation results demonstrate the effectiveness of the proposed observer.
Starting Page	247
Ending Page	258
Page Count	12
File Format	PDF
ISSN	14335298
Journal	Artificial Life and Robotics
Volume Number	22
Issue Number	2
e-ISSN	16147456
Language	English
Publisher	Springer Japan
Publisher Date	2016-11-22
Publisher Place	Tokyo
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Space robot Motion control Manipulator Adaptive observer Position estimation Artificial Intelligence (incl. Robotics) Computation by Abstract Devices Control, Robotics, Mechatronics
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Biochemistry, Genetics and Molecular Biology

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