Position control of a two-link satellite tracker manipulator using optical flow

Sallehuddin Mohamed Haris, M. K. Zakaria, N. Nikabdullah

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this work, the objective was to implement visual servo control based on the optical flow method to move a robotic manipulator end-effector in order to provide on-orbit servicing of space satellites. The visual servo system is made up of a single monocular camera mounted on the end-effector, and is to be used by the robot for autonomous location of the satellite. Firstly, using the pyramidal Lucas-Kanade method, optical flow field is extracted from image sequences captured by the camera. The pixel coordinates corresponding to the targeted location in the image frame is marked and registered into the system. The marked pixel coordinates is then converted into the robotic manipulator workspace coordinates. These coordinates are then used to compute the manipulator joint angles. Using the camera to send visual feedback information in closed loop control, the task is repeated until the target is reached.

Original languageEnglish
Title of host publication2009 International Conference on Space Science and Communication, IconSpace - Proceedings
Pages200-204
Number of pages5
DOIs
Publication statusPublished - 10 Dec 2009
Event2009 International Conference on Space Science and Communication, IconSpace - Port Dickson, Negeri Sembilan
Duration: 26 Oct 200927 Oct 2009

Other

Other2009 International Conference on Space Science and Communication, IconSpace
CityPort Dickson, Negeri Sembilan
Period26/10/0927/10/09

Fingerprint

Satellite links
Optical flows
Position control
Manipulators
Cameras
End effectors
Robotics
robot
Pixels
Satellites
Servomechanisms
Flow fields
Orbits
Robots
Feedback

Keywords

  • Optical flow field
  • Position based control
  • Pyramidal lucas-kanade
  • Satellite capture
  • Space robotics

ASJC Scopus subject areas

  • Computer Networks and Communications
  • Aerospace Engineering
  • Electrical and Electronic Engineering
  • Communication

Cite this

Mohamed Haris, S., Zakaria, M. K., & Nikabdullah, N. (2009). Position control of a two-link satellite tracker manipulator using optical flow. In 2009 International Conference on Space Science and Communication, IconSpace - Proceedings (pp. 200-204). [5352637] https://doi.org/10.1109/ICONSPACE.2009.5352637

Position control of a two-link satellite tracker manipulator using optical flow. / Mohamed Haris, Sallehuddin; Zakaria, M. K.; Nikabdullah, N.

2009 International Conference on Space Science and Communication, IconSpace - Proceedings. 2009. p. 200-204 5352637.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Mohamed Haris, S, Zakaria, MK & Nikabdullah, N 2009, Position control of a two-link satellite tracker manipulator using optical flow. in 2009 International Conference on Space Science and Communication, IconSpace - Proceedings., 5352637, pp. 200-204, 2009 International Conference on Space Science and Communication, IconSpace, Port Dickson, Negeri Sembilan, 26/10/09. https://doi.org/10.1109/ICONSPACE.2009.5352637
Mohamed Haris S, Zakaria MK, Nikabdullah N. Position control of a two-link satellite tracker manipulator using optical flow. In 2009 International Conference on Space Science and Communication, IconSpace - Proceedings. 2009. p. 200-204. 5352637 https://doi.org/10.1109/ICONSPACE.2009.5352637
Mohamed Haris, Sallehuddin ; Zakaria, M. K. ; Nikabdullah, N. / Position control of a two-link satellite tracker manipulator using optical flow. 2009 International Conference on Space Science and Communication, IconSpace - Proceedings. 2009. pp. 200-204
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