Space Robotics（空间机器人）
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￥ 81.28 6.2折 ￥ 132 全新
库存5件
作者王耀兵 著
出版社北京理工大学出版社
ISBN9787568291477
出版时间2020-11
装帧平装
开本16开
定价132元
货号29237345
上书时间2024-11-02
商品详情
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作者简介
王耀兵，博士，研究员，博士生导师，现任“空间智能机器人系统技术与应用”北京市重点实验室主任、中国空间技术研究院“空间智能机械系统技术”核心专业实验室主任、国防科技工业空间技术创新中心学术委员会委员、中国宇航学会机器人专业委员会委员。长期从事空间机器人及航天器机械系统技术研究工作，参加过多个宇航型号研制和预先研究项目，完成了“大型空间机械臂”“月球表面采样机械臂”“机器人航天员”“在轨服务多机器人系统”“四足仿生移动机器人”等多个空间机器人产品的开发工作，拥有空间机器人相关授权发明专利20余项。
目录1 Introduction
1．1 Definition， Characteristics， and Classification of Space Robot2<2r>1．1．1 Definition of Space Robot
1．1．2 Characteristics of Space Robot2<2r>1．1．3 Classification of Space Robot2<2r>1．2 Basic Composition and Main Research Areas of
SpaceRobot2<2r>1．2．1 Basic Composition of Space Robot2<2r>
1．2．2 Main Research Areas of Space Robotics [3]
Reference2<2r>
2
Kinematics and Dynamics of Space Robot2<2r>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
Reference2<2r>
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 Singularitie2<2r>3．2 Motion Planning of Space Robot
3．2．1 Global Path Planning
3．2．2 Local Path Planning
Reference2<2r>
4
Motion Control of Space Robot2<2r>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
Reference2<2r>
6 Space
Robot System
6．1 System Design
6．1．1 Design Content2<2r>6．1．2 Design Principle2<2r>6．2 Design Elements and Constraint Requirement2<2r>
6．2．1 Functional Requirement2<2r>6．2．2 Performance Requirement2<2r>
6．2．3 Environmental Constraint2<2r>
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 Planetary Exploration Mobile Robot
14
Design Example of Planetary Surface Sampling Manipulator
15
Current State of Space Robot2<2r>16 Future Prospects of Space Robots……
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