Space robotics. ([2021])

• Record Type: Book
• Further Information: Note: Yaobing Wang.
• Authors: Wang, Yaobing
• Contents: Intro -- Series Editor's Preface -- Preface -- Contents -- About the Author -- 1 Introduction -- 1.1 Definition, Characteristics, and Classification of Space Robots -- 1.1.1 Definition of Space Robot -- 1.1.2 Characteristics of Space Robots -- 1.1.3 Classification of Space Robots -- 1.2 Basic Composition and Main Research Areas of Space Robots -- 1.2.1 Basic Composition of Space Robots -- 1.2.2 Main Research Areas of Space Robotics [3] -- References -- 2 Kinematics and Dynamics of Space Robots -- 2.1 Topology Mathematical Description 2.2 Definition of Coordinate and Coordinate Transformation -- 2.3 Space Robot Kinematics [1] -- 2.3.1 Position and Speed of Each Body -- 2.3.2 End Position and Speed -- 2.4 Space Rigid Robot Dynamic Equations [2] -- 2.4.1 Dynamic Equations of Space Rigid Robots Established by Lagrange Method -- 2.4.2 Dynamic Equation of Space Rigid Robot Established by Newton-Euler Method -- 2.4.3 Situations Without Considering Base Floating -- 2.5 Space Flexible Robot Dynamic Equations [3, 4] -- 2.5.1 Flexible Body Deformation and Kinetic Energy -- 2.5.2 Elastic Force and Generalized Force of the Flexible Body 2.5.3 Interbody Constraint Equation of the Flexible Body -- 2.5.4 Dynamic Model of the Flexible Multi-Body System -- 2.5.5 Dynamics of Space Flexible Robot -- References -- 3 Motion Planning of Space Robot -- 3.1 Motion Planning for Space Robot -- 3.1.1 Description of the Planning Problem -- 3.1.2 Selection of Motion Trajectory -- 3.1.3 Motion Planning in Joint Space -- 3.1.4 Motion Planning in Cartesian Space -- 3.1.5 Redundant Design for Avoidance of Joint Limits and Singularities -- 3.2 Motion Planning of Space Robot -- 3.2.1 Global Path Planning -- 3.2.2 Local Path Planning -- References 4 Motion Control of Space Robots -- 4.1 Three-Loop Servo Motion Control -- 4.1.1 Motor Drive and Joint Servo Control -- 4.1.2 Debugging and Testing of the Joint Servo Control System -- 4.2 Computed Torque Method-Based Motion Control -- 4.2.1 Control Method Based on Calculated Torque -- 4.2.2 Sliding Mode Variable Structure Control -- 5 Force Control of Space Robot -- 5.1 Hybrid Force/Position Control -- 5.2 Impedance Control -- 5.2.1 Selection of Desired Impedance -- 5.2.2 Position-Based Impedance Control -- 5.2.3 Impedance Control Using Jacobian Transposition 5.2.4 Dynamics-Based Impedance Control -- 5.2.5 Multi-robot Cooperative Impedance Control -- References -- 6 Space Robot System -- 6.1 System Design -- 6.1.1 Design Contents -- 6.1.2 Design Principles -- 6.2 Design Elements and Constraint Requirements -- 6.2.1 Functional Requirements -- 6.2.2 Performance Requirements -- 6.2.3 Environmental Constraints -- 6.3 Overall Design -- 6.3.1 Task Requirement Analysis -- 6.3.2 Design Feasibility Study -- 6.3.3 Preliminary System Design -- 6.3.4 Detailed System Design -- 6.4 Configuration Design -- 6.5 Power Supply and Distribution Design
• Publisher Details: Singapore : Springer
• Publication Date: 2021
• Extent: 1 online resource
• Subjects: 629.47; Space robotics; Space robotics; Electronic books; Electronic books
• Languages: English
• ISBNs: 9789811549021; 9811549028
• Related ISBNs: 981154901X; 9789811549014
• Notes: Note: Includes bibliographical references.; Note: Description based on online resource; title from digital title page (viewed on October 29, 2020).
• Access Rights: Legal Deposit; Only available on premises controlled by the deposit library and to one user at any one time; The Legal Deposit Libraries (Non-Print Works) Regulations (UK).
• Access Usage: Restricted: Printing from this resource is governed by The Legal Deposit Libraries (Non-Print Works) Regulations (UK) and UK copyright law currently in force.