{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,29]],"date-time":"2026-04-29T06:50:20Z","timestamp":1777445420516,"version":"3.51.4"},"reference-count":36,"publisher":"Cambridge University Press (CUP)","issue":"3","license":[{"start":{"date-parts":[[2009,5,1]],"date-time":"2009-05-01T00:00:00Z","timestamp":1241136000000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2009,5]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>Space robotic systems are expected to play an increasingly important role in the future. Unlike on the earth, space operations require the ability to work in the unstructured environment. Some autonomous behaviors are necessary to perform complex and difficult tasks in space. This level of autonomy relies not only on vision, force, torque, and tactile sensors, but also the advanced planning and decision capabilities. In this paper, the authors study the autonomous target capturing from the issues of theory and experiments. Firstly, we deduce the kinematic and dynamic equations of space robotic system. Secondly, the visual measurement model of hand\u2013eye camera is created, and the image processing algorithms to extract the target features are introduced. Thirdly, we propose an autonomous trajectory planning method, directly using the 2D image features. The method predicts the target motion, plans the end-effector's velocities and solves the inverse kinematic equations using practical approach to avoid the dynamic singularities. At last, numeric simulation and experiment results are given. The ground experiment system is set up based on the concept of <jats:italic>dynamic simulation<\/jats:italic> and <jats:italic>kinematic equivalence<\/jats:italic>. With the system, the experiments of autonomous capturing a target by a free-floating space robot, composed of a 6-DOF manipulator and a satellite as its base, are conducted, and the results validate the proposed algorithm.<\/jats:p>","DOI":"10.1017\/s0263574708004839","type":"journal-article","created":{"date-parts":[[2008,7,17]],"date-time":"2008-07-17T04:23:46Z","timestamp":1216268626000},"page":"425-445","source":"Crossref","is-referenced-by-count":44,"title":["Autonomous target capturing of free-floating space robot: Theory and experiments"],"prefix":"10.1017","volume":"27","author":[{"given":"Wenfu","family":"Xu","sequence":"first","affiliation":[]},{"given":"Bin","family":"Liang","sequence":"additional","affiliation":[]},{"given":"Cheng","family":"Li","sequence":"additional","affiliation":[]},{"given":"Yu","family":"Liu","sequence":"additional","affiliation":[]},{"given":"Yangsheng","family":"Xu","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2009,5,1]]},"reference":[{"key":"S0263574708004839_ref33","doi-asserted-by":"publisher","DOI":"10.1163\/156855304322758015"},{"key":"S0263574708004839_ref34","doi-asserted-by":"publisher","DOI":"10.1109\/70.508446"},{"key":"S0263574708004839_ref12","doi-asserted-by":"publisher","DOI":"10.1109\/CDC.1990.203553"},{"key":"S0263574708004839_ref32","doi-asserted-by":"publisher","DOI":"10.1002\/rob.20011"},{"key":"S0263574708004839_ref27","doi-asserted-by":"publisher","DOI":"10.1002\/rob.4620100802"},{"key":"S0263574708004839_ref26","first-page":"1008","volume-title":"Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"Li","year":"2006"},{"key":"S0263574708004839_ref15","first-page":"1554","volume-title":"Proceedings of the IEEE International Conference on Intelligent Robots and Systems","author":"Papadopoulous","year":"1994"},{"key":"S0263574708004839_ref20","volume-title":"Space Robotics: Dynamics and Control","author":"Xu","year":"1992"},{"key":"S0263574708004839_ref19","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2006.886246"},{"key":"S0263574708004839_ref11","first-page":"435","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation","author":"Caccavale","year":"2001"},{"key":"S0263574708004839_ref8","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574799001186"},{"key":"S0263574708004839_ref6","doi-asserted-by":"publisher","DOI":"10.1109\/70.86080"},{"key":"S0263574708004839_ref30","doi-asserted-by":"publisher","DOI":"10.3724\/SP.J.1004.2008.00670"},{"key":"S0263574708004839_ref18","first-page":"211","article-title":"Tracking trajectory planning of space manipulator for capturing operation","volume":"3","author":"Huang","year":"2006","journal-title":"Int. J. Adv. Rob. Syst."},{"key":"S0263574708004839_ref16","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1996.503575"},{"key":"S0263574708004839_ref10","doi-asserted-by":"publisher","DOI":"10.1163\/156855301750398347"},{"key":"S0263574708004839_ref5","unstructured":"5. Web B. , Orbital Express\u2013Mission Updates. Available at: http:\/\/www.boeing.com\/ids\/advanced_systems\/orbital\/updates.html (2007)."},{"key":"S0263574708004839_ref31","volume-title":"Proceedings of the 7th ESA Workshop on Advanced Space Technologies for Robotics and Automation, ESTEC","author":"Piedboeuf","year":"2002"},{"key":"S0263574708004839_ref7","doi-asserted-by":"publisher","DOI":"10.1163\/156855308X294680"},{"key":"S0263574708004839_ref35","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-006-9087-8"},{"key":"S0263574708004839_ref24","doi-asserted-by":"publisher","DOI":"10.1109\/82.486465"},{"key":"S0263574708004839_ref21","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574707003438"},{"key":"S0263574708004839_ref2","first-page":"4587","volume-title":"Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"Landzettel","year":"2006"},{"key":"S0263574708004839_ref9","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574799001332"},{"key":"S0263574708004839_ref14","doi-asserted-by":"publisher","DOI":"10.1115\/1.2826841"},{"key":"S0263574708004839_ref1","doi-asserted-by":"publisher","DOI":"10.1163\/156855304322758006"},{"key":"S0263574708004839_ref3","doi-asserted-by":"publisher","DOI":"10.1177\/0278364903022005003"},{"key":"S0263574708004839_ref17","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1997.606755"},{"key":"S0263574708004839_ref4","first-page":"30","article-title":"Satellite hopes ride on orbital express","volume":"45","author":"Wilson","year":"2007","journal-title":"Aerospace Am."},{"key":"S0263574708004839_ref28","doi-asserted-by":"publisher","DOI":"10.1109\/87.294335"},{"key":"S0263574708004839_ref13","first-page":"116","article-title":"Workspace and manipulability analysis of space manipulator","volume":"E-1","author":"Umetani","year":"2001","journal-title":"Trans. Soc. Instrum. Control Eng."},{"key":"S0263574708004839_ref22","doi-asserted-by":"publisher","DOI":"10.1109\/70.34766"},{"key":"S0263574708004839_ref25","volume-title":"Image Processing, Analysis, and Machine Vision","author":"Sonka","year":"2007"},{"key":"S0263574708004839_ref29","doi-asserted-by":"publisher","DOI":"10.1109\/3477.558842"},{"key":"S0263574708004839_ref36","unstructured":"36. Deng L. F. , Comparison of Image-Based and Position-Based Robot Visual Servoing Methods and Improvements Ph.D. Dissertation (Wateloo, Ontario, Canada: The University of Waterloo, 2003)."},{"key":"S0263574708004839_ref23","doi-asserted-by":"publisher","DOI":"10.1115\/1.2897406"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574708004839","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,4,5]],"date-time":"2019-04-05T15:06:00Z","timestamp":1554476760000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574708004839\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2009,5]]},"references-count":36,"journal-issue":{"issue":"3","published-print":{"date-parts":[[2009,5]]}},"alternative-id":["S0263574708004839"],"URL":"https:\/\/doi.org\/10.1017\/s0263574708004839","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2009,5]]}}}