An Introduction to Space Robotics

By: Alex Ellery

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Hardcover | 1 September 2000

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Hardcover
684 Pages

Dimensions(cm)
24.13 x 17.15 x 3.81

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There is little doubt that robotic and automated systems in space will contribute considerably to the future commercialisation of the space environment. This text provides a systems eye view of robotic spacecraft design with an emphasis on control systems.
The first half of the book introduces the techniques of robotics and robotic control, and is the most mathematical part of the book. The second half of the book deals with spacecraft systems themselves, and how a robotic-type payload influences them, including consideration of financial and legal issues which are often left out of technical texts.
Running through the book is the implementation of a freeflying robotic spacecraft called ATLAS (Advanced TeLerobotic Actuation System). However, the techniques presented in the book are completely general and the ATLAS spacecraft just serves as an example, albeit a very useful and economically viable space system.

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Foreword
Preface
Introduction	p. 1
Robotic explorer missions	p. 23
In-orbit servicing missions	p. 49
Man-machine interface	p. 80
Systems design example (ATLAS)	p. 113
Robotic manipulator kinematics	p. 145
Robotic manipulator dynamics	p. 191
Space freeflyer kinemo-dynamics formulation	p. 217
Manipulator trajectory planning	p. 267
Robotic manipulator control systems	p. 293
Robotic sensorimotor subsystems	p. 327
Vision and image processing	p. 362
Autonomous robot task planning	p. 385
Spacecraft orbit control system	p. 428
Spacecraft attitude control system	p. 454
Spacecraft avionics (CandDH) subsystems	p. 491
Spacecraft communications (TTandC) subsystem	p. 509
Spacecraft onboard power subsystems	p. 536
Spacecraft structural configuration	p. 555
Commercial and legal constraints on robotic space missions	p. 570
Conclusions	p. 599
References	p. 627
Index	p. 652
Table of Contents provided by Blackwell. All Rights Reserved.

An Introduction to Space Robotics

At a Glance

Hardcover

Shipping

How to return your order

Defective items

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