001431955 000__ 06238cam\a2200589\i\4500
001431955 001__ 1431955
001431955 003__ OCoLC
001431955 005__ 20230309003414.0
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001431955 008__ 200919s2021\\\\si\\\\\\ob\\\\000\0\eng\d
001431955 019__ $$a1195494661$$a1197839247$$a1202479055$$a1204042138$$a1204503623
001431955 020__ $$a9811549028$$q(electronic book)
001431955 020__ $$a9789811549021$$q(electronic bk.)
001431955 020__ $$z981154901X
001431955 020__ $$z9789811549014
001431955 0247_ $$a10.1007/978-981-15-4902-1.$$2doi
001431955 0248_ $$a10.1007/978-981-15-4
001431955 035__ $$aSP(OCoLC)1197547316
001431955 040__ $$aEBLCP$$beng$$erda$$epn$$cEBLCP$$dYDX$$dYDXIT$$dESU$$dGW5XE$$dLQU$$dSFB$$dOCLCF$$dERF$$dUKBTH$$dUKMGB$$dN$T$$dOCLCO$$dOCLCQ$$dOCLCO$$dCOM$$dOCLCQ
001431955 0411_ $$aeng$$hchi
001431955 049__ $$aISEA
001431955 050_4 $$aTL1097$$b.W36 2021
001431955 08204 $$a629.47$$223
001431955 1001_ $$aWang, Yaobing,$$eauthor.
001431955 24510 $$aSpace robotics /$$cYaobing Wang.
001431955 264_1 $$aSingapore :$$bSpringer,$$c[2021]
001431955 300__ $$a1 online resource
001431955 336__ $$atext$$btxt$$2rdacontent
001431955 337__ $$acomputer$$bc$$2rdamedia
001431955 338__ $$aonline resource$$bcr$$2rdacarrier
001431955 4901_ $$aSpace Science and Technologies
001431955 504__ $$aIncludes bibliographical references.
001431955 5050_ $$aIntro -- Series Editor's Preface -- Preface -- Contents -- About the Author -- 1 Introduction -- 1.1 Definition, Characteristics, and Classification of Space Robots -- 1.1.1 Definition of Space Robot -- 1.1.2 Characteristics of Space Robots -- 1.1.3 Classification of Space Robots -- 1.2 Basic Composition and Main Research Areas of Space Robots -- 1.2.1 Basic Composition of Space Robots -- 1.2.2 Main Research Areas of Space Robotics [3] -- References -- 2 Kinematics and Dynamics of Space Robots -- 2.1 Topology Mathematical Description
001431955 5058_ $$a2.2 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
001431955 5058_ $$a2.5.3 Interbody Constraint Equation of the Flexible Body -- 2.5.4 Dynamic Model of the Flexible Multi-Body System -- 2.5.5 Dynamics of Space Flexible Robot -- References -- 3 Motion Planning of Space Robot -- 3.1 Motion Planning for Space Robot -- 3.1.1 Description of the Planning Problem -- 3.1.2 Selection of Motion Trajectory -- 3.1.3 Motion Planning in Joint Space -- 3.1.4 Motion Planning in Cartesian Space -- 3.1.5 Redundant Design for Avoidance of Joint Limits and Singularities -- 3.2 Motion Planning of Space Robot -- 3.2.1 Global Path Planning -- 3.2.2 Local Path Planning -- References
001431955 5058_ $$a4 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
001431955 5058_ $$a5.2.4 Dynamics-Based Impedance Control -- 5.2.5 Multi-robot Cooperative Impedance Control -- References -- 6 Space Robot System -- 6.1 System Design -- 6.1.1 Design Contents -- 6.1.2 Design Principles -- 6.2 Design Elements and Constraint Requirements -- 6.2.1 Functional Requirements -- 6.2.2 Performance Requirements -- 6.2.3 Environmental Constraints -- 6.3 Overall Design -- 6.3.1 Task Requirement Analysis -- 6.3.2 Design Feasibility Study -- 6.3.3 Preliminary System Design -- 6.3.4 Detailed System Design -- 6.4 Configuration Design -- 6.5 Power Supply and Distribution Design
001431955 506__ $$aAccess limited to authorized users.
001431955 520__ $$aThis book provides readers with basic concepts and design theories for space robots and presents essential methodologies for implementing space robot engineering by introducing several concrete projects as illustrative examples. Readers will gain a comprehensive understanding of professional theories in the field of space robots, and will find an initial introduction to the engineering processes involved in developing space robots. Rapid advances in technologies such as the Internet of Things, Cloud Computing, and Artificial Intelligence have also produced profound changes in space robots. With the continuous expansion of human exploration of the universe, it is imperative for space robots to be capable of sharing knowledge, working collaboratively, and becoming more and more intelligent so as to optimize the utilization of space resources. For on-orbit robots that perform service tasks such as spacecraft assembly and maintenance, as well as exploration robots that carry out research tasks on planetary surfaces, the rational integration into a network system can greatly improve their capabilities in connection with executing outer space tasks, such as information gathering and utilization, independent decision-making and planning, risk avoidance, and reliability, while also significantly reducing resource consumption for the system as a whole.
001431955 588__ $$aOnline resource; title from digital title page (viewed on October 29, 2020).
001431955 650_0 $$aSpace robotics.
001431955 650_6 $$aRobotique spatiale.
001431955 655_0 $$aElectronic books.
001431955 77608 $$iPrint version:$$aWang, Yaobing.$$tSpace Robotics.$$dSingapore : Springer Singapore Pte. Limited, ©2020$$z9789811549014
001431955 830_0 $$aSpace science and technologies.
001431955 852__ $$bebk
001431955 85640 $$3Springer Nature$$uhttps://univsouthin.idm.oclc.org/login?url=https://link.springer.com/10.1007/978-981-15-4902-1$$zOnline Access$$91397441.1
001431955 909CO $$ooai:library.usi.edu:1431955$$pGLOBAL_SET
001431955 980__ $$aBIB
001431955 980__ $$aEBOOK
001431955 982__ $$aEbook
001431955 983__ $$aOnline
001431955 994__ $$a92$$bISE