Visual Monitoring and Servoing of a Cutting Blade during Telerobotic Satellite Servicing
Amama Mahmood,Balazs P. Vagvolgyi,Will Pryor,Louis L. Whitcomb,Peter Kazanzides,Simon Leonard,Amama Mahmood,Balazs P. Vagvolgyi,Will Pryor,Louis L. Whitcomb,Peter Kazanzides,Simon Leonard
We propose a system for visually monitoring and servoing the cutting of a multi-layer insulation (MLI) blanket that covers the envelope of satellites and spacecraft. The main contributions of this paper are: 1) to propose a model for relating visual features describing the engagement depth of the blade to the force exerted on the MLI blanket by the cutting tool, 2) a blade design and algorithm to ...
