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Space Robotics: Dynamics and Control

  • Book
  • © 1993

Overview

Editors:
  1. Yangsheng Xu

    1. Carnegie Mellon University, USA

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    You can also search for this editor in PubMed   Google Scholar

  2. Takeo Kanade

    1. Carnegie Mellon University, USA

    View editor publications

    You can also search for this editor in PubMed   Google Scholar

Part of the book series: The Springer International Series in Engineering and Computer Science (SECS, volume 188)

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Table of contents (10 chapters)

  1. Front Matter

    Pages i-viii
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  2. Kinematic and Dynamic Properties of an Elbow Manipulator Mounted on a Satellite

    • Robert E. Lindberg, Richard W. Longman, Michael F. Zedd
    Pages 1-25

  3. The Kinetics and Workspace of a Satellite-Mounted Robot

    • Richard W. Longman
    Pages 27-44

  4. On the Dynamics of Space Manipulators Using the Virtual Manipulator, with Applications to Path Planning

    • Z. Vafa, S. Dubowsky
    Pages 45-76

  5. Dynamic Singularities in Free-floating Space Manipulators

    • Evangelos Papadopoulos, Steven Dubowsky
    Pages 77-100

  6. Nonholonomic Motion Planning of Free-Flying Space Robots Via a Bi-Directional Approach

    • Yoshihiko Nakamura, Ranjan Mukherjee
    Pages 101-130

  7. Attitude Control of Space Platform/Manipulator System Using Internal Motion

    • C. Fernandes, L. Gurvits, Z. X. Li
    Pages 131-163

  8. Control of Space Manipulators with Generalized Jacobian Matrix

    • Kazuya Yoshida, Yoji Umetani
    Pages 165-204

  9. Sensory Feedback Control for Space Manipulators

    • Yasuhiro Masutani, Fumio Miyazaki, Suguru Arimoto
    Pages 205-227

  10. Adaptive Control of Space Robot System with an Attitude Controlled Base

    • Yangsheng Xu, Heung-Yeung Shum, Ju-Jang Lee, Takeo Kanade
    Pages 229-268

  11. Experiments in Autonomous Navigation and Control of a Multi-Manipulator, Free-Flying Space Robot

    • Marc A. Ullman, Robert H. Cannon Jr.
    Pages 269-284

  12. Back Matter

    Pages 285-285
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Keywords

About this book

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.

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

Editors and Affiliations

  • Carnegie Mellon University, USA

    Yangsheng Xu, Takeo Kanade

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