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