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Robotics and structural dynamics characterization of the space station remote manipulator system using photogrammetric techniques

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3 Author(s)
Chandrashaker, R. ; Canadian Space Agency, St. Hubert, Que., Canada ; Kalaycioglu, S. ; Graham, W.B.

Analytical formulations of the photogrammetric camera models are described. Both a single-camera model and a dual-camera model are presented. Because the cameras are not fixed in well-defined reference frames, calibration methods accounting for their motion are necessary. Two calibration schemes addressing this issue, namely, a linear scheme and a nonlinear scheme, are presented and discussed. Also presented is an analysis which evaluates the sensitivity of the coordinates of a target to the various camera parameters such as focal length of the camera lens, and pan and tilt angles of the camera

Published in:

Electrotechnical Conference, 1994. Proceedings., 7th Mediterranean

Date of Conference:

12-14 Apr 1994