Ebook: Space Robotics: Dynamics and Control

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.

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Content:
Front Matter....Pages i-viii
Kinematic and Dynamic Properties of an Elbow Manipulator Mounted on a Satellite....Pages 1-25
The Kinetics and Workspace of a Satellite-Mounted Robot....Pages 27-44
On the Dynamics of Space Manipulators Using the Virtual Manipulator, with Applications to Path Planning....Pages 45-76
Dynamic Singularities in Free-floating Space Manipulators....Pages 77-100
Nonholonomic Motion Planning of Free-Flying Space Robots Via a Bi-Directional Approach....Pages 101-130
Attitude Control of Space Platform/Manipulator System Using Internal Motion....Pages 131-163
Control of Space Manipulators with Generalized Jacobian Matrix....Pages 165-204
Sensory Feedback Control for Space Manipulators....Pages 205-227
Adaptive Control of Space Robot System with an Attitude Controlled Base....Pages 229-268
Experiments in Autonomous Navigation and Control of a Multi-Manipulator, Free-Flying Space Robot....Pages 269-284
Back Matter....Pages 285-285

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Content:
Front Matter....Pages i-viii
Kinematic and Dynamic Properties of an Elbow Manipulator Mounted on a Satellite....Pages 1-25
The Kinetics and Workspace of a Satellite-Mounted Robot....Pages 27-44
On the Dynamics of Space Manipulators Using the Virtual Manipulator, with Applications to Path Planning....Pages 45-76
Dynamic Singularities in Free-floating Space Manipulators....Pages 77-100
Nonholonomic Motion Planning of Free-Flying Space Robots Via a Bi-Directional Approach....Pages 101-130
Attitude Control of Space Platform/Manipulator System Using Internal Motion....Pages 131-163
Control of Space Manipulators with Generalized Jacobian Matrix....Pages 165-204
Sensory Feedback Control for Space Manipulators....Pages 205-227
Adaptive Control of Space Robot System with an Attitude Controlled Base....Pages 229-268
Experiments in Autonomous Navigation and Control of a Multi-Manipulator, Free-Flying Space Robot....Pages 269-284
Back Matter....Pages 285-285
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