An adaptive vision system for guidance of a robotic manipulator to capture a tumbling satellite with unknown dynamics

@article{Aghili2008AnAV,
  title={An adaptive vision system for guidance of a robotic manipulator to capture a tumbling satellite with unknown dynamics},
  author={Farhad Aghili and Kourosh Parsa},
  journal={2008 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year={2008},
  pages={3064-3071}
}
This paper is focused on an adaptive vision system for the guidance of a robot to intercept a non-cooperative target satellite with unknown dynamics parameters. A Kalman filter is developed to reliably estimate the states of the object as well as all of its inertial parameters - namely, the moment-of-inertia ratios, the center-of-mass location, and the orientation of the principle axes - from vision information. The estimates are then used to optimally plan the motion of the manipulator. The… CONTINUE READING
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