Space Robotics

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
	6.6 Information Flow Design
	6.7 Thermal Design
	6.8 Interface Design
		6.8.1 Mechanical Interface
		6.8.2 Power Supply Interface
		6.8.3 Information Interface
		6.8.4 Thermal Interface
	6.9 Ergonomic Design
	6.10 Reliability Design
	6.11 Safety Design
	6.12 Testability Design
	6.13 Maintainability Design
	6.14 Supportability Design
	6.15 Selection of Components, Raw Materials, and Processes
		6.15.1 Selection and Design of Raw Materials
		6.15.2 Selection and Design of Components
		6.15.3 Process Selection and Design
	6.16 Verification Scheme Design
	References
7 Space Robot Mechanical System
	7.1 Overview of Mechanical System
		7.1.1 Structure
		7.1.2 Joint
		7.1.3 End Effector
		7.1.4 Mobile Mechanism
		7.1.5 Hold-Down Release Mechanism
	7.2 Structure of the Space Robot
		7.2.1 Structural Function
		7.2.2 Structural Materials
		7.2.3 Structure Design
	7.3 Joints
		7.3.1 Joints Classification
		7.3.2 Joint Composition
		7.3.3 Joint Design
	7.4 End Effectors
		7.4.1 Classification of End Effectors
		7.4.2 Composition of the End Effector
		7.4.3 End Effector Design
	7.5 Mobile Mechanism
		7.5.1 Legged Mobile Mechanism
		7.5.2 Wheeled Mobile Mechanism
		7.5.3 Tracked Mobile Mechanism
	7.6 Hold-Down and Release Mechanism
		7.6.1 Function of the Hold-Down Release Mechanism
		7.6.2 Types of Release Devices
		7.6.3 Design of the Hold-Down Release Mechanism
	7.7 Lubrication for Space Mechanism
		7.7.1 Grease Lubrication
		7.7.2 Solid Lubrication
		7.7.3 Solid-Grease Composite Lubrication
	7.8 Test Verification
		7.8.1 Function/Performance Test for Space Robot Joints
		7.8.2 Function/Performance Test of Space Robot End Effector
		7.8.3 Environment Test
		7.8.4 Reliability Tests
	References
8 Space Robot Control System
	8.1 Control System Overview
		8.1.1 Command Scheduling Layer
		8.1.2 Motion Planning Layer
		8.1.3 Execution Control Layer
	8.2 Design of the Control System
		8.2.1 Control System Architecture
		8.2.2 Information Flow
		8.2.3 Working Modes of the Control System
		8.2.4 Control System Hardware
		8.2.5 Control System Software
		8.2.6 Control System Reliability and Safety Design
9 Space Robot Perception System
	9.1 Overview of the Perception System
	9.2 Visual Perception System Design
		9.2.1 System Design
		9.2.2 Information Flow Design
	9.3 Visible Light Visual Measurement
		9.3.1 Monocular Visual Measurement
		9.3.2 Binocular Visual Measurement
	9.4 Laser Visual Measurement
		9.4.1 TOF-Based Ranging
		9.4.2 Triangulation-Based Ranging
	9.5 Test Verification
	References
10 Space Robot Teleoperation System
	10.1 Teleoperation System Overview
	10.2 Teleoperation System Design
		10.2.1 System Design
		10.2.2 Typical Teleoperation System
11 Space Robot System Verification
	11.1 Space Robot System Verification Methods
	11.2 Necessity of Simulation Verification
	11.3 Example of Space Robot Simulation Verification
		11.3.1 Model Establishment
		11.3.2 Controller Setup
		11.3.3 Model Configuration and Preliminary Verification
		11.3.4 Simulation and Debugging
	References
12 Design Example of Large Space Manipulator
	12.1 Overview
		12.1.1 Engineering Background
		12.1.2 Design Requirements
		12.1.3 Constraints
	12.2 Overall System Design
		12.2.1 Task Analysis
		12.2.2 System Design
	12.3 Mechanical System Design
		12.3.1 Mechanical System Composition
		12.3.2 Joint Design
		12.3.3 End Effector Design
		12.3.4 Arm Boom Design
		12.3.5 Design of Hold-Down and Release Mechanism
		12.3.6 Manipulator Console Design
	12.4 Control System Design
		12.4.1 Composition of the Control System
		12.4.2 System Control Strategy
		12.4.3 Control System Hardware Design
		12.4.4 Control System Software Design
	12.5 Perception System Design
		12.5.1 Composition of Perception System
		12.5.2 Visual Measurement System Strategy
		12.5.3 Visual Measurement System Information Bus Design
		12.5.4 Visual Measurement System Hardware Design
		12.5.5 Visual Measurement System Software Design
	12.6 Design Verification
		12.6.1 Verification Items
		12.6.2 Verification Scheme
	References
13 Design Example of Planetary Exploration Mobile Robot
	13.1 Overview
		13.1.1 Engineering Background
		13.1.2 Design Requirements
		13.1.3 Constraints
	13.2 Overall System Design
		13.2.1 Task Analysis
		13.2.2 Overall Scheme Design
	13.3 Mechanical System Design
		13.3.1 Design of the Drive and Steering Module
		13.3.2 Design of the Active Suspension Module
		13.3.3 Design of the Differential Support Module
		13.3.4 Design of the Hold-Down and Release Module
	13.4 Control System Design
		13.4.1 Overall Design of the Control System
		13.4.2 Control System Mode Design
		13.4.3 Design of the Servo Drive Scheme
	13.5 Perception System Design
		13.5.1 Overall Structure of the Perception System
		13.5.2 Visual Perception System Design
		13.5.3 Navigation Camera Design
		13.5.4 Obstacle Avoidance Camera Design
		13.5.5 Sun Sensor Design
	13.6 Design Verification
		13.6.1 Verification Items
		13.6.2 Verification Scheme
	References
14 Design Example of Planetary Surface Sampling Manipulator
	14.1 Overview
		14.1.1 Engineering Background
		14.1.2 Design Requirements
		14.1.3 Constraints
	14.2 Overall System Design
		14.2.1 Task Analysis
		14.2.2 System Design
	14.3 Mechanical System Design
		14.3.1 System Composition
		14.3.2 Joint Design
		14.3.3 Arm Design
		14.3.4 Sampler Design
		14.3.5 Hold-Down Mechanism Design
	14.4 Control System Design
		14.4.1 System Architecture Design
		14.4.2 Control Unit Design
		14.4.3 Joint Control System Design
		14.4.4 Control System Software Architecture
	14.5 Perception System Design
		14.5.1 Ground-Touching Sensor Design
		14.5.2 Visual System Design
	14.6 Design Verification
		14.6.1 Verification Items
		14.6.2 Verification Scheme
15 Current State of Space Robots
	15.1 Evolution of Space Robots [1, 2]
	15.2 Current Researches on Space Robotics
		15.2.1 On-Orbit Operation Robots
		15.2.2 Planetary Exploration Robot
	15.3 Summary
	References
16 Future Prospects of Space Robots
	16.1 Space Robot Products
		16.1.1 Soft Robot
		16.1.2 Flying Robot
		16.1.3 Space Cloud Robot
		16.1.4 Space Multi-robot System
		16.1.5 Artificial Intelligence Space Robot
	16.2 Space Robot Technologies
		16.2.1 Dynamic Modeling Technology
		16.2.2 Motion Planning and Control Technology
		16.2.3 Force Control Technology
	16.3 Summary
	References