To overcome the high risk and cost of manned satellite servicing

a space robot arm is fixed on satellite body and a monocular camera is mounted on the arm to realize vision based satellite self servicing instead of teleoperation. A new hybrid switching visual servo control is proposed following on-line calculation of object depth and pose to select PBVS or IBVS. By integrating some advantages of both methods

the trajectories of image and Cartesian space are controllable simultaneously. For wide range servo movement

especially rotation movement

PBVS is adopted

and for short distance servo movement IBVS is adopted. Thus

space robot of auto visual servo is realized in wide range. Taking account of space environment

cooperative object recognition has been designed and implemented. Therefore

servo features can be obtained quickly and stably in complex circumstances. Simulation and real experimental results demonstrate this approach is positioning accurate and robust for the measurements and the calibration errors as dealing with wide range visual servo.