基本信息  

书名：	Space robotics
作者：	王耀兵
出版社：	北京理工大学出版社有限责任公司
出版日期：	2020-11-01
版次：	第1版
ISBN：	9787568291477
市场价：	132.0

目录   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 Elished by Lagrange Method
2．4．2 Dynamic Equation of Space Rigid Robot Elished 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 Kiic 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
……

7 Space Robot Mechanical System
8 Space Robot Control System
9 Space Robot Perception System
10 Space Robot Teleoperation System
11 Space Robot System Verification
12 Design Example of Large Space Manipulator
13 Design Example of Plaary Exploration Mobile Robot
14 Design Example of Plaary Surface Sampling Manipulator
15 Current State of Space Robots
16 Future Prospects of Space Robots 内容介绍   《空间机器人（英文版）》是北京理工大学出版社与Springer Nature联合出版图书。《空间机器人（英文版）》详实论述了极限环境下空间机器人的基本设计理论，介绍了空间机器人工程实现的基本方法和步骤，着重讲述了空间机器人运动学与动力动规划与控制、系体设计、机械系统设计与验证、控制系统设计、空间机器人系统等内容，还给出了大型空间机械臂设计、空间移动机器人设计、行星表面采样机械臂设计及验证等大量工程实例。《空间机器人（英文版）》兼备科学前瞻和工程实用，可为机器人专业、航空航天领域特种机械、智能机械等专业技术人员以及从事战略工程的项目管理人员提供重要参考。 在线试读   媒体评论