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
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The first book to describe a tethered space robot (TSR) system, from fundamental principles to system and mission design specs
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1 | (26) |
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1 | (17) |
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1.2 System and Mission Design of TSR |
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18 | (9) |
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21 | (5) |
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26 | (1) |
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2 Dynamics Modeling of the Space Tether |
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27 | (48) |
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2.1 Dynamics Modeling and Solving Based on the Bead Model |
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29 | (3) |
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2.2 Dynamics Modeling and Solving Based on Ritz Method |
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32 | (4) |
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2.3 Dynamics Modeling and Solving Based on Hybrid Unit Method |
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36 | (3) |
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2.4 Dynamics Modeling and Solving Based on Newton-Euler Method |
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39 | (21) |
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2.5 Dynamics Modeling and Solving Based on Hamiltonian |
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60 | (15) |
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73 | (1) |
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74 | (1) |
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3 Pose Measurement Based on Vision Perception |
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3.1 Measurement System Scheme |
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76 | (3) |
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3.2 Target Contour Tracking |
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79 | (23) |
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102 | (3) |
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3.4 Visual Servoing and Pose Measurement |
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105 | (16) |
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118 | (3) |
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4 Optimal Trajectory Tracking in Approaching |
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4.1 Trajectory Modeling in Approaching |
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123 | (4) |
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4.2 Coordinated Control Method |
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127 | (4) |
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4.3 Attitude Stability Strategy |
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131 | (5) |
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136 | (9) |
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144 | (1) |
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5 Approaching Control Based on a Distributed Tether Model |
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5.1 Dynamics Modeling of TSR |
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147 | (10) |
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5.2 Optimal Coordinated Controller |
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157 | (2) |
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159 | (6) |
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163 | (2) |
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6 Approaching Control Based on a Movable Platform |
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6.1 Approach Dynamic Model |
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166 | (6) |
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6.2 Approach Control Strategy |
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172 | (6) |
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178 | (5) |
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182 | (1) |
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7 Approaching Control Based on a Tether Releasing Mechanism |
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183 | (32) |
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7.1 Coupling Dynamic Models |
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184 | (9) |
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7.2 Coordinated Coupling Control Strategy |
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193 | (8) |
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201 | (14) |
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213 | (2) |
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8 Approaching Control Based on Mobile Tether Attachment Points |
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215 | (30) |
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8.1 Orbit and Attitude Dynamic Model |
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216 | (7) |
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8.2 Strategy Design of the Coordinated Controller |
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223 | (9) |
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232 | (13) |
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243 | (2) |
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9 Impact Dynamic Modeling and Adaptive Target Capture Control |
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245 | (30) |
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9.1 Dynamic Modeling of Tethered Space Robots for Target Capture |
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247 | (7) |
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9.2 Stabilization Controller Design for Target Capture by TSR |
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254 | (7) |
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261 | (14) |
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273 | (2) |
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10 Postcapture Attitude Control for a TSR-Target Combination System |
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275 | (26) |
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276 | (6) |
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10.2 Coordinated Control Strategies |
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282 | (7) |
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10.3 Numerical Simulation |
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289 | (12) |
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298 | (3) |
| Conclusions |
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301 | (2) |
| Index |
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303 | |
Professor Huang received B.S. and M.S. from Northwestern Polytechnical University in 1998, 2001, respectively, and PhD from the Chinese University of Hong Kong in the area of Automation and Robotics in 2005. He is currently a professor of the School of Astronautics and Vice Director of Research Center for Intelligent Robotics at the Northwestern Polytechnical University. His research interests include Space Robotics, Tethered Space Robotics, Intelligent Control, Machine Vision, Space Teleoperation. Dr. Meng received his Ph.D. from Northwestern Polytechnical University, China, in 2010. He is currently an associate professor at the School of Astronautics, Northwestern Polytechnical University. His research interests include dynamics and control of tethered space robots and intelligent spacecraft system. Dr. Guo received his PhD degree from University of Leeds in England and BSc/MSc degrees from Northwestern Polytechnical University in China. Before joined Delft University of Technology (TU Delft), he worked as Research Assistant in Tsinghua University from 2001 to 2004. He is currently a Theme Leader in TU Delft Space Institute (DSI) and an Assistant Professor in the Faculty of Aerospace Engineering, TU Delft. His research interests include small satellite, distributed space systems, and space systems engineering. Dr. Fan (Aaron) Zhang PhD received the B.Sc. (Hons) and M.Sc. degrees from Shanghai Jiao Tong University (2005 and 2008 respectively), and his Ph.D from the University of Bristol (2012). He is currently a Research Fellow in the Visual Information Laboratory at the University of Bristol, working on video compression and immersive video processing. His research interests include perceptual video compression, video quality assessment and immersive video formats. Aaron has published over 30 academic papers and has contributed to two books previous books on video compression. His work on super-resolution-based video compression, has contributed to international standardization processes and he was a co-winner of the 2017 IEEE Grand Challenge on Video Compression.
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