Open AccessA Generalized Visual Aid System for Teleoperation Applied to Satellite Servicing
Author(s) -
Guoliang Zhang,
Zhanni Wang,
Ji-Xiang Du,
Tian Wang,
Zainan Jiang
Publication year - 2014
Publication title -
international journal of advanced robotic systems
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.394
H-Index - 46
eISSN - 1729-8814
pISSN - 1729-8806
DOI - 10.5772/56799
Subject(s) - teleoperation , computer science , visual servoing , artificial intelligence , matching (statistics) , computer vision , simulation , robot , statistics , mathematics
This paper presents the latest results of a newly developed visual aid system for direct teleoperation. This method is extended to visual control to make an efficient teleoperation system by combining direct teleoperation and automatic control. On the one hand, an operator can conduct direct teleoperation with 3D graphic prediction simulation established by the VR technique. In order to remove inconsistencies between the virtual and real environments, a practical model-matching method is investigated. On the other hand, to realize real-time visual servoing control, a particular object recognition and pose estimation algorithm based on polygonal approximation is investigated to ensure a low computational cost for image processing. To avoid undesired forces involved in contact operation, 3D visual servoing incorporating a compliant control based on impedance control is developed. Finally, in a representative laboratory environment, a typical satellite servicing experiment is carried out based on this combined system. Experimental results demonstrate the feasibility and the effectiveness of the proposed method