@article{ZHANG2025, 
author = {Deli ZHANG and Zhongwen HAO and Min WANG and Sili ZENG and Shang HUAN and Jiahong SHE},
title = {Improved DETR-based visual servoing for robotic arm satellite tracking},
year = {2025},
journal = {Chinese Journal of Aeronautics},
volume = {38},
number = {12},
keywords = {Deep learning, Detection Transformer, Object detection, Robotic arms, Satellites–tracking, Visual servoing},
url = {https://www.sciopen.com/article/10.1016/j.cja.2025.103849},
doi = {10.1016/j.cja.2025.103849},
abstract = {To enhance the robustness and real-time performance of robotic arm visual servoing in complex environments such as space, this study proposes DiFA-DETR, a modified object detection framework based on the DETR architecture. The proposed model incorporates an improved ResNet50 Bottleneck structure with spatial dimensionality reduction and sparse interaction mechanisms, alongside a redesigned self-attention module featuring downsampling optimization and adaptive feature enhancement. A custom-annotated satellite component dataset was constructed to train and evaluate the system. Experimental results demonstrate that DiFA-DETR achieves an AP50 of 79.9 %, outperforming existing DETR variants while reducing computational complexity by 31.9 % and nearly doubling the inference speed. The method was further validated in a ground-based visual servoing system using an industrial robotic arm and camera setup. The system successfully tracked satellite targets under dynamic motion scenarios, maintaining millimeter-level positioning accuracy. These results confirm the feasibility and effectiveness of the proposed method in supporting future space robotic applications requiring precision tracking and fast response.}
}