Presents the established principles underpinning space robotics with a thorough and modern approach. This text is perfect for professionals in the field looking to gain an understanding of real-life applications of manipulators on satellites, and of the dynamics of satellites carrying robotic manipulators and of planetary rovers.
A comprehensive review of the principles and dynamics of robotic systems Dynamics and Control of Robotic Systems offers a systematic and thorough theoretical background for the study of the dynamics and control of robotic systems. The authors—noted experts in the field—highlight the underlying principles of dynamics and control that can be employed in a variety of contemporary applications. The book contains a detailed presentation of the precepts of robotics and provides methodologies that are relevant to realistic robotic systems. The robotic systems represented include wide range examples from classical industrial manipulators, humanoid robots to robotic surgical assistants, space vehicles, and computer controlled milling machines. The book puts the emphasis on the systematic application of the underlying principles and show how the computational and analytical tools such as MATLAB, Mathematica, and Maple enable students to focus on robotics’ principles and theory. Dynamics and Control of Robotic Systems contains an extensive collection of examples and problems and: Puts the focus on the fundamentals of kinematics and dynamics as applied to robotic systems Presents the techniques of analytical mechanics of robotics Includes a review of advanced topics such as the recursive order N formulation Contains a wide array of design and analysis problems for robotic systems Written for students of robotics, Dynamics and Control of Robotic Systems offers a comprehensive review of the underlying principles and methods of the science of robotics.
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.
Tethered Space Robot: Dynamics, Measurement, and Control discusses a novel tethered space robot (TSR) system that contains the space platform, flexible tether and gripper. TSR can capture and remove non-cooperative targets such as space debris. It is the first time the concept has been described in a book, which describes the system and mission design of TSR and then introduces the latest research on pose measurement, dynamics and control. The book covers the TSR system, from principle to applications, including a complete implementing scheme. A useful reference for researchers, engineers and students interested in space robots, OOS and debris removal. - Provides for the first time comprehensive coverage of various aspects of tethered space robots (TSR) - Presents both fundamental principles and application technologies including pose measurement, dynamics and control - Describes some new control techniques, including a coordinated control method for tracking optimal trajectory, coordinated coupling control and coordinated approaching control using mobile tether attachment points
This self-contained introduction to practical robot kinematics and dynamics includes a comprehensive treatment of robot control. It provides background material on terminology and linear transformations, followed by coverage of kinematics and inverse kinematics, dynamics, manipulator control, robust control, force control, use of feedback in nonlinear systems, and adaptive control. Each topic is supported by examples of specific applications. Derivations and proofs are included in many cases. The book includes many worked examples, examples illustrating all aspects of the theory, and problems.
Spacecraft Dynamics and Control: The Embedded Model Control Approach provides a uniform and systematic way of approaching space engineering control problems from the standpoint of model-based control, using state-space equations as the key paradigm for simulation, design and implementation. The book introduces the Embedded Model Control methodology for the design and implementation of attitude and orbit control systems. The logic architecture is organized around the embedded model of the spacecraft and its surrounding environment. The model is compelled to include disturbance dynamics as a repository of the uncertainty that the control law must reject to meet attitude and orbit requirements within the uncertainty class. The source of the real-time uncertainty estimation/prediction is the model error signal, as it encodes the residual discrepancies between spacecraft measurements and model output. The embedded model and the uncertainty estimation feedback (noise estimator in the book) constitute the state predictor feeding the control law. Asymptotic pole placement (exploiting the asymptotes of closed-loop transfer functions) is the way to design and tune feedback loops around the embedded model (state predictor, control law, reference generator). The design versus the uncertainty class is driven by analytic stability and performance inequalities. The method is applied to several attitude and orbit control problems. - The book begins with an extensive introduction to attitude geometry and algebra and ends with the core themes: state-space dynamics and Embedded Model Control - Fundamentals of orbit, attitude and environment dynamics are treated giving emphasis to state-space formulation, disturbance dynamics, state feedback and prediction, closed-loop stability - Sensors and actuators are treated giving emphasis to their dynamics and modelling of measurement errors. Numerical tables are included and their data employed for numerical simulations - Orbit and attitude control problems of the European GOCE mission are the inspiration of numerical exercises and simulations - The suite of the attitude control modes of a GOCE-like mission is designed and simulated around the so-called mission state predictor - Solved and unsolved exercises are included within the text - and not separated at the end of chapters - for better understanding, training and application - Simulated results and their graphical plots are developed through MATLAB/Simulink code
Furthering the aim of reducing human exposure to hazardous environments, this monograph presents a detailed study of the modeling and control of vehicle-manipulator systems. The text shows how complex interactions can be performed at remote locations using systems that combine the manipulability of robotic manipulators with the ability of mobile robots to locomote over large areas. The first part studies the kinematics and dynamics of rigid bodies and standard robotic manipulators and can be used as an introduction to robotics focussing on robust mathematical modeling. The monograph then moves on to study vehicle-manipulator systems in great detail with emphasis on combining two different configuration spaces in a mathematically sound way. Robustness of these systems is extremely important and Modeling and Control of Vehicle-manipulator Systems effectively represents the dynamic equations using a mathematically robust framework. Several tools from Lie theory and differential geometry are used to obtain globally valid representations of the dynamic equations of vehicle-manipulator systems. The specific characteristics of several different types of vehicle-manipulator systems are included and the various application areas of these systems are discussed in detail. For underwater robots buoyancy and gravity, drag forces, added mass properties, and ocean currents are considered. For space robotics the effects of free fall environments and the strong dynamic coupling between the spacecraft and the manipulator are discussed. For wheeled robots wheel kinematics and non-holonomic motion is treated, and finally the inertial forces are included for robots mounted on a forced moving base. Modeling and Control of Vehicle-manipulator Systems will be of interest to researchers and engineers studying and working on many applications of robotics: underwater, space, personal assistance, and mobile manipulation in general, all of which have similarities in the equations required for modeling and control.
Introduces the basic concepts of robot manipulation--the fundamental kinematic and dynamic analysis of manipulator arms, and the key techniques for trajectory control and compliant motion control. Material is supported with abundant examples adapted from successful industrial practice or advanced research topics. Includes carefully devised conceptual diagrams, discussion of current research topics with references to the latest publications, and end-of-book problem sets. Appendixes. Bibliography.
