{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,9,25]],"date-time":"2025-09-25T17:13:31Z","timestamp":1758820411037,"version":"3.41.2"},"reference-count":42,"publisher":"Emerald","issue":"6","license":[{"start":{"date-parts":[[2014,10,20]],"date-time":"2014-10-20T00:00:00Z","timestamp":1413763200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2014,10,20]]},"abstract":"<jats:sec>\n               <jats:title content-type=\"abstract-heading\">Purpose<\/jats:title>\n               <jats:p> \u2013 The purpose of this paper is to solve the ground verification and test method for space robot system capturing the target satellite based on visual servoing with time-delay in 3-dimensional space prior to space robot being launched. <\/jats:p>\n            <\/jats:sec>\n            <jats:sec>\n               <jats:title content-type=\"abstract-heading\">Design\/methodology\/approach<\/jats:title>\n               <jats:p> \u2013 To implement the approaching and capturing task, a motion planning method for visual servoing the space manipulator to capture a moving target is presented. This is mainly used to solve the time-delay problem of the visual servoing control system and the motion uncertainty of the target satellite. To verify and test the feasibility and reliability of the method in three-dimensional (3D) operating space, a set of ground hardware-in-the-loop simulation verification systems is developed, which adopts the end-tip kinematics equivalence and dynamics simulation method. <\/jats:p>\n            <\/jats:sec>\n            <jats:sec>\n               <jats:title content-type=\"abstract-heading\">Findings<\/jats:title>\n               <jats:p> \u2013 The results of the ground hardware-in-the-loop simulation experiment validate the reliability of the eye-in-hand visual system in the 3D operating space and prove the validity of the visual servoing motion planning method with time-delay compensation. At the same time, owing to the dynamics simulator of the space robot added in the ground hardware-in-the-loop verification system, the base disturbance can be considered during the approaching and capturing procedure, which makes the ground verification system realistic and credible. <\/jats:p>\n            <\/jats:sec>\n            <jats:sec>\n               <jats:title content-type=\"abstract-heading\">Originality\/value<\/jats:title>\n               <jats:p> \u2013 The ground verification experiment system includes the real controller of space manipulator, the eye-in-hand camera and the dynamics simulator, which can veritably simulate the capturing process based on the visual servoing in space and consider the effect of time delay and the free-floating base disturbance.<\/jats:p>\n            <\/jats:sec>","DOI":"10.1108\/ir-05-2014-0339","type":"journal-article","created":{"date-parts":[[2014,10,31]],"date-time":"2014-10-31T09:14:11Z","timestamp":1414746851000},"page":"543-556","source":"Crossref","is-referenced-by-count":14,"title":["Ground verification of space robot capturing the free-floating target based on visual servoing control with time delay"],"prefix":"10.1108","volume":"41","author":[{"given":"Haitao","family":"Yang","sequence":"first","affiliation":[]},{"given":"Minghe","family":"Jin","sequence":"additional","affiliation":[]},{"given":"Zongwu","family":"Xie","sequence":"additional","affiliation":[]},{"given":"Kui","family":"Sun","sequence":"additional","affiliation":[]},{"given":"Hong","family":"Liu","sequence":"additional","affiliation":[]}],"member":"140","reference":[{"key":"key2020122800454747800_b1","unstructured":"Aghili, F.\n               , \n                  Dupuis, E.\n               , \n                  Piedboeuf, J.C.\n                and \n                  de Carufel, J.\n                (1999), \u201cHardware-in-the-loop simulation of robots performing contact tasks\u201d, in \n                  Perry, \n                and \n                  M. 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