Autonomous Robotic Capture of Non-cooperative Target by Vision-based Kinematic Control

This paper developed a vision-based kinematic controller for robotic manipulators to perform autonomous capture of non-cooperative target. In order to accurately estimate the kinestate of the target, a combination approach of photogrammetry and extended Kalman filter was adopted. Due to the non-cooperative nature of the target as well as the uncertainty of the interception time, it is challenging to determine the interception point between trajectories of the target and the end-effector in a priori. Therefore, an incremental kinematic controller is proposed for the robotic manipulator. Validating simulation results demonstrated the effectiveness of the proposed control strategy.

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