Abstract:

To avoid the effect of time-lag caused by the vision-feedback and control algorithmic in eye-hand space robot servo system running in self-determined model, the Smith-estimate-compensate control algorithmic is presented. Using the information fed back from the eye-hand controller and joints, the relative position and pose between the target and the tip of manipulator are estimated, and the controlling is made. Furthermore, according to the features of space robot control, the fixed time-lag mechanism is introduced to simplify the control algorithmic. This algorithmic can avoid the effect of the time-lag and optimize the capability of the system, such as real-time ability，stability and precision. Simulating experiment results show the validity of the algorithmic.

Key words: smith-estimate-compensate, space robot, hand-eye servo, motion control