Direct visual servoing and interaction control for a two-arms on-orbit servicing spacecraft

A direct visual-servoing algorithm for control of a space-based two-arm manipulator is proposed in this paper. The can be utilized manipulators configuration, where one the arms performs manipulation and second arm dedicated to observation target zone manipulation. utilizes both visual features extracted from onboard cameras force torque measured at manipulator's end-effector movements during on-orbit servicing operations. takes into account relative dynamics bodies involved, it relies on images taken independently de-localized cameras, e.g. manipulator, integrates an impedance compensation eventual contact reactions when end effector touches operates body. analytical derivations demonstrate stability incorporate compliance strategy optimal framework formulation. Simulations results two different scenarios have been presented show adequate behavior approach on-orbit-servicing • We developed servoing controller dual space manipulator. driven by camera mounted other arm. considers measurements torques forces sensor effector. Visual tracking tool insertion tasks performed using controller.