Improved Uncalibrated Visual Servo Strategy for Hyper-Redundant Manipulators in On-Orbit Automatic Assembly

Aiming at on-orbit automatic assembly, an improved uncalibrated visual servo strategy for hyper-redundant manipulators based on projective homography is proposed. This strategy uses an improved homography-based task function with lower dimensions while maintaining its robustness to image defects and...

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Autors principals:	Jinlin Gu, Mingchao Zhu, Lihua Cao, Ang Li, Wenrui Wang, Zhenbang Xu
Format:	Artigo
Idioma:	Inglês
Publicat:	MDPI AG 2020-10-01
Col·lecció:	Applied Sciences
Matèries:	hyper-redundant manipulator projective homography uncalibrated visual servo KF-SVSF method singular value filtering
Accés en línia:	https://www.mdpi.com/2076-3417/10/19/6968
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