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

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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.

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Author information

Authors and Affiliations

  1. Department of Mechanical Engineering, Sojo University, 4-22-1 Ikeda, Nishi-ku, Kumamoto, 860-0082, Japan

    Yuichiro Taira

  2. Department of Mechanical and Control Engineering, Kyushu Institute of Technology, 1-1 Sensui, Tobata, Kitakyushu, 804-8550, Japan

    Shinichi Sagara & Masahiro Oya

Authors
  1. Yuichiro Taira
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  2. Shinichi Sagara
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  3. Masahiro Oya
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Corresponding author

Correspondence to Yuichiro Taira.

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Taira, Y., Sagara, S. & Oya, M. An adaptive observer for a spacecraft–manipulator system using a camera mounted on its spacecraft. Artif Life Robotics 22, 247–258 (2017). https://doi.org/10.1007/s10015-016-0340-3

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  • DOI: https://doi.org/10.1007/s10015-016-0340-3

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