综述空间机器人在轨服务中的视觉伺服技术应用
Visual Servoing for Robotic On-Orbit Servicing: A Survey
- 按识别、逼近、接触三阶段分类现有视觉伺服方法
- 系统梳理空间机械臂在轨操作的视觉控制技术体系
- 适合航天机器人、空间运维方向研究者参考
在轨服务（OOS）将推动太空可持续探索与商业化发展。开发具备自主能力的空间机器人系统（SMS）是航天行业的当务之急。视觉伺服（VS）通过利用视觉信息实现运动控制，使机器人完成高精度操作，支撑关键的在轨服务任务。本文综述了面向自主在轨服务任务的空间机械臂系统的现有视觉伺服方法，按任务典型阶段分为：a) 识别，b) 接近，c) 接触。同时对所回顾的技术进行讨论，揭示当前发展趋势。最后，指出视觉伺服技术在机器人在轨服务中面临的关键挑战与未来研究方向。
原文摘要 · Abstract (English)
On-orbit servicing (OOS) activities will power the next big step for sustainable exploration and commercialization of space. Developing robotic capabilities for autonomous OOS operations is a priority for the space industry. Visual Servoing (VS) enables robots to achieve the precise manoeuvres needed for critical OOS missions by utilizing visual information for motion control. This article presents an overview of existing VS approaches for autonomous OOS operations with space manipulator systems (SMS). We divide the approaches according to their contribution to the typical phases of a robotic OOS mission: a) Recognition, b) Approach, and c) Contact. We also present a discussion on the reviewed VS approaches, identifying current trends. Finally, we highlight the challenges and areas for future research on VS techniques for robotic OOS.
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