Free flight space robot motion control and simulation

Author: Hong Bingrong
Publisher:
Publish Date: 2005-09-01
Features: This book is a specialized work on the motion control and simulation technology of free-flying space robots. Most of the content summarizes the author's research achievements in this field over the past decade, with some parts being published for the first time. The book is divided into twelve chapters. Chapter introduces an overview of free-flying space robots, emphasizing the research significance, current status, and future development trends. Chapters 2 to 11 primarily introduce the fundamental theories and methods of motion control for free-flying space robots, including kinematic models and motion characteristics, parameter identification based on neural networks, target capture motion planning, attitude control based on constrained small disturbance graphs, redundant motion planning based on attitude stability, integrated attitude control algorithms, joint torque-based motion control algorithms, fuzzy motion control algorithms, flight trajectory optimization algorithms, and multi-robot coordinated operation control algorithms, among others. The twelfth chapter of the book, "Ground Experimental Platform for Free-Flying Space Robots," focuses on a dual-arm free-flying space ground experimental platform developed by the author's institution, introducing the composition, working principles, and experimental methods of the ground experimental system. This book serves as a reference for researchers working in the fields of space robots, robotics, and robot control.