Visual measurement for on-orbit assembly of a large space antenna

Author

Nishida, Shin-Ichiro ; Heihachiro, Kamimura

Author_Institution

Tottori Univ., Tottori, Japan

fYear

2014

fDate

27-29 Nov. 2014

Firstpage

23

Lastpage

28

Abstract

In Earth orbit, solar power generation is possible free from any absorption or disturbances by the Earth´s atmosphere. Therefore, space solar power station is planned for the future. We discuss the assembly work of a large antenna reflector by a robot arm. For the assembly work, positioning of the arm using visual servo to colored markers is proposed. The characteristics of the new image processing method of colored marker were confirmed by testing using a ground test-bed with a positioning table. The test results are also described in this paper.

Keywords

Earth orbit; dexterous manipulators; image colour analysis; position control; reflector antennas; robot vision; terrestrial atmosphere; visual servoing; colored marker image processing method; earth atmosphere; earth orbit; ground test-bed; large antenna reflector; large space antenna on-orbit assembly; positioning table; robot arm; solar power generation; space solar power station; visual measurement; visual servo; Optical imaging; Optical reflection; Optical sensors; Optical variables measurement; Robot kinematics; Tin; aerospace; robotics; visual servo control;

fLanguage

English

Publisher

ieee

Conference_Titel

Mecatronics (MECATRONICS), 2014 10th France-Japan/ 8th Europe-Asia Congress on

Conference_Location

Tokyo

Type

conf

DOI

10.1109/MECATRONICS.2014.7018609

Filename

7018609