The subject project can be described as the development and testing of a digitally controlled docking mechanism. The mechanism consists of a 6 DOF parallel manipulator for docking interface pre-alignment, and a machine vision sensor for real-time target tracking. The parallel manipulator also can be used for capture/latching, energy attenuation, and structural rigidization of docking, but the scope of this paper is the proof-of-concept demonstration of autonomous pre-alignment of a docking mechanism using machine vision.


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    Title :

    Autonomous pre-alignment of a docking mechanism


    Contributors:


    Publication date :

    1991-01-01


    Type of media :

    Conference paper


    Type of material :

    No indication


    Language :

    English




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