Overview

Robotic technology offers two potential benefits for future space exploration. One benefit is minimizing the risk that astronauts face; the other is increasing their productivity. Realizing the benefits of robotic technology in space will require solving several problems which are unique and are 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 considerable risk the 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, focusing 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.

Full Product Details

Author:   Yangsheng Xu ,  Takeo Kanade
Publisher:   Springer
Imprint:   Springer
Edition:   1993 ed.
Volume:   188
Dimensions:   Width: 15.50cm , Height: 1.70cm , Length: 23.50cm
Weight:   0.607kg
ISBN:  

9780792392651

ISBN 10:   0792392655
Pages:   285
Publication Date:   30 November 1992
Audience:   College/higher education ,  Professional and scholarly ,  Postgraduate, Research & Scholarly ,  Professional & Vocational
Format:   Hardback
Publisher's Status:   Active
Availability:   In Print  
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Table of Contents

1. Kinematic and Dynamic Properties of an Elbow Manipulator Mounted on a Satellite.- 2. The Kinetics and Workspace of a Satellite-Mounted Robot.- 3. On the Dynamics of Space Manipulators Using the Virtual Manipulator, with Applications to Path Planning.- 4. Dynamic Singularities in Free-floating Space Manipulators.- 5. Nonholonomic Motion Planning of Free-Flying Space Robots via a Bi-Directional Approach.- 6. Attitude Control of Space Platform/Manipulator System Using Internal Motion.- 7. Control of Space Manipulators with Generalized Jacobian Matrix.- 8. Sensory Feedback Control for Space Manipulators.- 9. Adaptive Control of Space Robot System with an Attitude Controlled Base.- 10. Experiments in Autonomous Navigation and Control of a Multi-Manipulator, Free-Flying Space Robot.

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

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

`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

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