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Video-Based Sensor for Robotic Position and Attitude determinationNASA's Marshall Space Flight Center (MSFC) has, for the last ten years, developed various video-based sensors for use in automated docking systems. The latest generation of sensor will operate at rates of up to 100 Hz, determining the relative position (X, Y, and Z) and attitude (Roll, Pitch, and Yaw) between the sensor and a small 3-dimensional target, making it suitable for applications in robotic sensing. The Advanced Video Guidance Sensor (AVGS) is designed to track multiple targets at different ranges and determine the position and attitude of each one. The previous generation of video sensor, the Video Guidance Sensor (VGS), was flown twice on the Space Shuttle to test its performance on orbit. One of the tests performed was determining the relative positions and attitudes between the VGS and its target, which was moved to various positions using the Remote Manipulator System (RMS). The RMS position data and VGS measured data were analyzed after the flights, with good correlation between the position and attitude data of the two data sets. The test using the RMS gives a good idea of the ability of the use of the AVGS as a sensor for end-effector position and attitude determination.
Document ID
20010021603
Acquisition Source
Marshall Space Flight Center
Document Type
Preprint (Draft being sent to journal)
Authors
Howard, Richard T.
(NASA Marshall Space Flight Center Huntsville, AL United States)
Bryan, Thomas C.
(NASA Marshall Space Flight Center Huntsville, AL United States)
Book, Michael L.
(NASA Marshall Space Flight Center Huntsville, AL United States)
Roe, Fred D., Jr.
Date Acquired
August 20, 2013
Publication Date
January 1, 2001
Subject Category
Cybernetics, Artificial Intelligence And Robotics
Meeting Information
Meeting: Artificial Intelligence, Robotics, and Automation in Space
Location: Montreal
Country: Canada
Start Date: June 18, 2001
End Date: June 22, 2001
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.

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