Title :
Visual measurement for on-orbit assembly of a large space antenna
Author :
Nishida, Shin-Ichiro ; Heihachiro, Kamimura
Author_Institution :
Tottori Univ., Tottori, Japan
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;
Conference_Titel :
Mecatronics (MECATRONICS), 2014 10th France-Japan/ 8th Europe-Asia Congress on
Conference_Location :
Tokyo
DOI :
10.1109/MECATRONICS.2014.7018609
