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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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Principais autores: Jinlin Gu, Mingchao Zhu, Lihua Cao, Ang Li, Wenrui Wang, Zhenbang Xu
Formato: Artigo
Idioma:Inglês
Publicado em: MDPI AG 2020-10-01
coleção:Applied Sciences
Assuntos:
hyper-redundant manipulator
projective homography
uncalibrated visual servo
KF-SVSF method
singular value filtering
Acesso em linha:https://www.mdpi.com/2076-3417/10/19/6968
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