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First, a hand-eye servo controller is proposed as a method for accurately tracking and capturing a target satellite. Next, a motion planning strategy is employed to obtain the best-fit contacting moments. Also, an impedance control law is implemented to increase protection during operation and to ensure more accurate compliance. Finally, to overcome the challenge of verifying algorithms for a space manipulator while on the ground, a novel experimental system with a 6-DOF (degree of freedom) manipulator on a chaser field robot is presented and implemented to capture a target field robot; the proposed methods are then validated using the experimental platform.<\/jats:p>","DOI":"10.1017\/s0263574714000587","type":"journal-article","created":{"date-parts":[[2014,3,17]],"date-time":"2014-03-17T14:25:46Z","timestamp":1395066346000},"page":"848-864","source":"Crossref","is-referenced-by-count":25,"title":["Hand-eye servo and impedance control for manipulator arm to capture target satellite safely"],"prefix":"10.1017","volume":"33","author":[{"given":"Gan","family":"Ma","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Zhihong","family":"Jiang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Hui","family":"Li","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Junyao","family":"Gao","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Zhangguo","family":"Yu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xuechao","family":"Chen","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yun-Hui","family":"Liu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Qiang","family":"Huang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2014,3,17]]},"reference":[{"key":"S0263574714000587_ref23","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2009.2039941"},{"key":"S0263574714000587_ref33","first-page":"1562","volume-title":"International Conference on Intelligent Robots and Systems","author":"Dubowsky","year":"1994"},{"key":"S0263574714000587_ref8","first-page":"946","volume-title":"International Multi-Conference of Engineers and Computer Scientists","author":"Kobayashi","year":"2010"},{"key":"S0263574714000587_ref14","doi-asserted-by":"publisher","DOI":"10.1177\/027836499000900401"},{"key":"S0263574714000587_ref7","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574708004839"},{"key":"S0263574714000587_ref13","doi-asserted-by":"publisher","DOI":"10.1163\/156855304322758015"},{"key":"S0263574714000587_ref32","doi-asserted-by":"publisher","DOI":"10.1163\/156855300741924"},{"key":"S0263574714000587_ref9","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1993.291872"},{"key":"S0263574714000587_ref24","doi-asserted-by":"crossref","first-page":"804","DOI":"10.1109\/TRO.2006.878788","article-title":"Uncalibrated visual servoing of robots using a depth-independent image Jacobian matrix","volume":"22","author":"Liu","year":"2006","journal-title":"IEEE Trans. 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