Study on Visual Servo of Space Manipulator with Time-delay

Abstract

With the development of vision technology, visual servo technology of robot has been becoming a hot point. The real-time image processing is one of the key factors that affect the performance of visual servo. Time-delay of image processing is common in space robot manipulator which has to use high reliable but low performance processors. The delay of image may cause vibration of space manipulator’s end effector. In this paper, the influence of image processing delay is analyzed by simulation of a 4-DOF space manipulator. A visual servo method based on subdivision control is proposed. Its effectiveness of enhancing control accuracy and system stability is verified by simulation.