Research on the visual servo system of a free-floating space robot

In order to add the dynamic model of the space robot to the traditional visual servo algorithm and enhance the authenticity of the simulation system, this paper analyzes the composition and principle of a free-floating space robot, focusing on its visual servo system. Generalized Jacobian matrix was used to complete kinematic model of the free-floating space robot, and the dynamics model was discussed under the condition of 6D spatial vector. Based on PD and feedforward control, the path planning of the robot was programmed in Cartesian space. A binocular hand-eye camera system was built to extract the pose of the non-cooperative satellite which further used to complete the visual servo system. Various robot control algorithms can be introduced to the visual servo system that makes it more convenient and takes advantage of simple mechanism with low cost. By building a SimMechanics model, the expected trajectory had been tracked successfully which proved the visual servo system right.