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Space Robotics : Dynamics and Control :  Dynamics and Control - Yangsheng Xu

Space Robotics : Dynamics and Control

Dynamics and Control

By: Yangsheng Xu (Editor), Takeo Kanade (Editor)

Hardcover Published: April 2002
ISBN: 9780792392651
Number Of Pages: 285

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Robotic technology offers two potential benefits for future space exploration. One benefit is minimizing the risk that astronauts face. The other benefit is increasing their productivity. Realizing the benefits of robotic technology in space will require solving several problems which are unique and now becoming active research topics. One of the most important research areas is dynamics, control, motion and planning for space robots by considering the dynamic interaction between the robot and the base (space station, space shuttle, or satellite). Any inefficiency in the planning and control can considerably risk by success of the space mission. Space Robotics: Dynamics and Control presents a collection of papers concerning fundamental problems in dynamics and control of space robots, focussing on issues relevant to dynamic base/robot interaction. The authors are all pioneers in theoretical analysis and experimental systems development of space robot technology. The chapters are organized within three problem areas: dynamics problems, nonholonomic nature problems, and control problems. This collection provides a solid reference for researchers in robotics, mechanics, control, and astronautical science.

Industry Reviews

`In summary, the book provides an excellent account of the state of the art in the field, addressing significant problems and should be acquired by any researchers or development engineers dedicated to producing the first generation fo operational space robotic systems. '
Proceedings of the Institution of Mechanical Engineers, 208

Preface
Kinematic and Dynamic Properties of an Elbow Manipulator Mounted on a Satellitep. 1
The Kinetics and Workspace of a Satellite-Mounted Robotp. 27
On the Dynamics of Space Manipulators Using the Virtual Manipulator, with Applications to Path Planningp. 45
Dynamic Singularities in Free-floating Space Manipulatorsp. 77
Nonholonomic Motion Planning of Free-Flying Space Robots via a Bi-Directional Approachp. 101
Attitude Control of Space Platform/Manipulator System Using Internal Motionp. 131
Control of Space Manipulators with Generalized Jacobian Matrixp. 165
Sensory Feedback Control for Space Manipulatorsp. 205
Adaptive Control of Space Robot System with an Attitude Controlled Basep. 229
Experiments in Autonomous Navigation and Control of a Multi-Manipulator, Free-Flying Space Robotp. 269
Indexp. 285
Table of Contents provided by Blackwell. All Rights Reserved.

ISBN: 9780792392651
ISBN-10: 0792392655
Series: The Springer International Engineering and Computer Science
Audience: General
Format: Hardcover
Language: English
Number Of Pages: 285
Published: April 2002
Publisher: SPRINGER VERLAG GMBH
Country of Publication: NL
Dimensions (cm): 22.96 x 17.73  x 2.13
Weight (kg): 0.6

Earn 567 Qantas Points
on this Book