An introduction to space robotics:
Gespeichert in:
| 1. Verfasser: | |
|---|---|
| Format: | Buch |
| Sprache: | English |
| Veröffentlicht: |
London [u.a.]
Springer [u.a.]
2000
|
| Schriftenreihe: | Springer praxis books in astronomy and space sciences
|
| Schlagworte: | |
| Online-Zugang: | Inhaltsverzeichnis |
| Beschreibung: | XVIII, 663 S. graph. Darst. |
| ISBN: | 185233164X |
Internformat
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| 100 | 1 | |a Ellery, Alex |d 1963- |e Verfasser |0 (DE-588)121848736 |4 aut | |
| 245 | 1 | 0 | |a An introduction to space robotics |c Alex Ellery |
| 264 | 1 | |a London [u.a.] |b Springer [u.a.] |c 2000 | |
| 300 | |a XVIII, 663 S. |b graph. Darst. | ||
| 336 | |b txt |2 rdacontent | ||
| 337 | |b n |2 rdamedia | ||
| 338 | |b nc |2 rdacarrier | ||
| 490 | 0 | |a Springer praxis books in astronomy and space sciences | |
| 650 | 4 | |a Raumfahrttechnik - Robotik | |
| 650 | 4 | |a Space robotics | |
| 650 | 0 | 7 | |a Robotik |0 (DE-588)4261462-4 |2 gnd |9 rswk-swf |
| 650 | 0 | 7 | |a Raumfahrttechnik |0 (DE-588)4177061-4 |2 gnd |9 rswk-swf |
| 689 | 0 | 0 | |a Raumfahrttechnik |0 (DE-588)4177061-4 |D s |
| 689 | 0 | 1 | |a Robotik |0 (DE-588)4261462-4 |D s |
| 689 | 0 | |5 DE-604 | |
| 856 | 4 | 2 | |m DNB Datenaustausch |q application/pdf |u http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=008910558&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |3 Inhaltsverzeichnis |
| 943 | 1 | |a oai:aleph.bib-bvb.de:BVB01-008910558 | |
Datensatz im Suchindex
| _version_ | 1807593661448323072 |
|---|---|
| adam_text |
CONTENTS
FOREWORD
.
XIII
PREFACE
XV
1.
INTRODUCTION
.
1
1.1
THE
LAUNCH
VEHICLE
ENVIRONMENT
.
3
1.2
THE
SPACE
ENVIRONMENT
.
6
1.3
THE
NEAR-EARTH
SPACE
DEBRIS
ENVIRONMENT
.
14
1.4
THE
MARS
ENVIRONMENT
.
16
1.5
SUMMARY
.
22
2.
ROBOTIC
EXPLORER
MISSIONS
.
23
2.1
ROBOTIC
EXPLORATION
OF
SPACE
.
23
2.2
PLANETARY
ROVER
MISSIONS
.
31
2.2.1
MARS
ROVERS
.
35
2.2.2
THE
FUTURE
OF
PLANETARY
ROVERS
.
46
3.
IN-ORBIT
SERVICING
MISSIONS
.
49
3.1
IN-ORBIT
ROBOTIC
SYSTEMS
.
51
3.2
IN-ORBIT
OPERATIONS
.
58
3.3
EXTRAVEHICULAR
ACTIVITY
(EVA)
.
66
3.4
IN-ORBIT
ROBOTIC
MANIPULATION
.
71
3.4.1
THE
SOLAR
MAXIMUM
REPAIR
MISSION
(1984)
.
74
4.
MAN-MACHINE
INTERFACE
.
80
4.1
GROUND
STATION
MISSION
OPERATIONS
.
80
4.2
ROBOT
PROGRAMMING
LANGUAGES
.
83
4.3
AUTOMATED
SPEECH
RECOGNITION
(ASR)
.
86
4.4
TELEROBOTIC
MODE
OF
CONTROL
.
90
4.4.1
VIRTUAL
REALITY
SYSTEMS
.
98
4.5
GROUND
STATION
COMPUTER
HARDWARE
ARCHITECTURES
.
101
4.6
THE
NASREM
SOFTWARE
COMPUTING
ARCHITECTURE
.
108
VIII
CONTENTS
5.
SYSTEMS
DESIGN
EXAMPLE
(ATLAS)
.
113
5.1
SPACECRAFT
SIZING
.
116
5.2
ROBOTIC
PAY
LOAD
.
117
5.2.1
THE
SENSING
SUBSYSTEM
.
121
5.2.2
THE
ACTUATION
SUBSYSTEM
.
122
5.2.3
THE
CONTROL
SYSTEM
AND
MAN-MACHINE
INTERFACE
.
123
5.3
SPACECRAFT
BUS
DESIGN
BUDGET
.
126
5.3.1
THE
PROPULSION
SUBSYSTEM
.
127
5.3.2
THE
ATTITUDE
CONTROL
SUBSYSTEM
.
129
5.3.3
THE
ELECTRICAL
POWER
SUBSYSTEM
.
131
5.3.4
THE
THERMAL
CONTROL
SUBSYSTEM
.
133
5.3.5
THE
STRUCTURAL
SUBSYSTEM
.
133
5.3.6
THE
COMMUNICATIONS
SUBSYSTEM
.
134
5.4
SPACE
MISSION
RELIABILITY
.
137
5.5
DISCUSSION
.
142
6.
ROBOTIC
MANIPULATOR
KINEMATICS
.
145
6.1
RESOLUTION
OF
POSITION
COORDINATES
.
149
6.1.1
FORWARD
POSITION
KINEMATICS
SOLUTION
.
150
6.1.2
INVERSE
POSITION
KINEMATICS
SOLUTION
.
159
6.1.3
MANIPULATOR
WORKSPACE
.
164
6.2
RESOLUTION
OF
VELOCITY
COORDINATES
.
165
6.2.1
FORWARD
DIFFERENTIAL
KINEMATICS
SOLUTION
.
165
6.2.2
INVERSE
DIFFERENTIAL
KINEMATICS
SOLUTION
.
170
6.2.3
MANIPULATOR
REDUNDANCY
.
172
6.3
RESOLUTION
OF
ACCELERATION
COORDINATES
.
175
6.4
RESOLUTION
OF
STATIC
FORCE
COORDINATES
.
180
6.5
DUAL
MANIPULATOR
KINEMATICS
.
182
6.5.1
INTER-ARM
COLLISION
AVOIDANCE
.
182
6.5.2
DUAL
MANIPULATOR
KINEMATIC
CONFIGURATION
.
184
6.5.3
OPEN
CHAIN
KINEMATIC
CONFIGURATION
.
185
6.5.4
CLOSED
CHAIN
KINEMATIC
CONFIGURATION
.
186
6.5.5
DUAL
ARM
CONFIGURATION
SUMMARY
.
190
7.
ROBOTIC
MANIPULATOR
DYNAMICS
.
191
7.1
DERIVATION
OF
NEWTON-EULER
DYNAMICS
.
199
7.1.1
LINK
KINEMATICS
.
201
7.1.2
LINK
DYNAMICS
.
204
7.1.3
LINK-REFERENCED
FORMULATION
.
208
7.2
NEWTON-EULER
DYNAMICS
OF
A
PUMA
560/600
SPACE
MANIPULATOR
.
209
7.2.1
FORWARD
RECURSION
.
209
7.2.2
BACKWARD
RECURSION
.
213
7.3
COLLISION/CAPTURE
DYNAMICS
.
214
CONTENTS
IX
8.
SPACE
FREEFLYER
KINEMO-DYNAMICS
FORMULATION
.
217
8.1
SPACE
FREEFLYER
KINEMATICS
.
223
8.1.1
RESOLUTION
OF
INERTIAL
COORDINATES
.
224
8.1.2
RESOLUTION
OF
INERTIAL
VELOCITY,
ACCELERATION
AND
STATIC
FORCE
.
234
8.2
SPACE
FREEFLYER
DYNAMICS
FEEDFORWARD
COMPENSATION
.
241
8.3
DUAL-MANIPULATOR
ROBOTIC
FREEFLYER
SPACECRAFT
.
246
8.3.1
DUAL-MANIPULATOR
POSITION
KINEMATICS
.
247
8.3.2
DUAL-MANIPULATOR
VELOCITY
KINEMATICS
.
256
8.3.3
DUAL-MANIPULATOR
DYNAMIC
FEEDFORWARD
COMPENSATION
.
262
8.4
SUMMARY
.
264
9.
MANIPULATOR
TRAJECTORY
PLANNING
.
267
9.1
CARTESIAN
TRAJECTORY
GENERATION
.
268
9.2
JOINT
TRAJECTORY
GENERATION
.
276
9.3
OBSTACLE
AVOIDANCE
.
283
9.3.1
POTENTIAL
FIELD
APPROACH
.
285
9.3.2
SIMULATED
ANNEALING
.
287
9.4
SUMMARY
OF
MANIPULATOR
TRAJECTORY
COMPUTATIONS
.
288
9.5
PARALLEL
PROCESSING
IMPLEMENTATIONS
.
290
10.
ROBOTIC
MANIPULATOR
CONTROL
SYSTEMS
.
293
10.1
RESOLVED
MOTION
RATE
CONTROL
.
294
10.2
DC
MOTOR
CONTROL
.
295
10.3
COMPUTED
TORQUE
CONTROL
.
300
10.3.1
RESOLVED
ACCELERATION
CONTROL
.
304
10.4
ADAPTIVE
CONTROL
METHODS
.
305
10.4.1
NEURAL
NETWORK
METHODS
OF
ROBOTIC
CONTROL
.
309
10.5
FORCE
FEEDBACK
CONTROL
.
310
10.5.1
HYBRID
POSITION/FORCE
CONTROL
.
313
10.5.2
ADAPTIVE
FORCE
CONTROL
.
316
10.5.3
GRASP
PLANNING
.
318
10.5.4
CLOSED-CHAIN
CONFIGURATION
FORCE
CONTROL
.
321
11.
ROBOTIC
SENSORIMOTOR
SUBSYSTEMS
.
327
11.1
ROBOTIC
SENSOR
TECHNOLOGIES
.
327
11.1.1
PROPRIOCEPTIVE
SENSORS
.
328
11.1.2
FORCE/TORQUE
SENSORS
.
330
11.1.3
TACTILE
SENSORS
.
332
11.1.4
PROXIMITY
SENSORS
.
336
11.1.5
RANGE
SENSORS
.
337
11.1.6
ROVER
SCIENTIFIC
INSTRUMENTS
.
340
11.1.7
SIGNAL
PROCESSING
.
342
11.1.8
SENSOR
FUSION
.
344
11.1.9
SUMMARY
.
347
X
CONTENTS
11.2
ROBOTIC
ACTUATOR
TECHNOLOGIES
.
347
11.2.1
MANIPULATOR
JOINT
MOTORS
.
348
11.2.2
GEAR
TRANSMISSION
SYSTEMS
.
351
11.2.3
END
EFFECTORS/TOOL
SETS
.
352
11.3
MICRO-ELECTROMECHANICAL
SYSTEMS
(MEMS)
.
357
12.
VISION
AND
IMAGE
PROCESSING
.
362
12.1
VISION
SENSORS
.
362
12.2
IMAGE
PROCESSING
.
367
12.2.1
LOW-LEVEL
VISION
PROCESSING
.
368
12.2.2
HIGH-LEVEL
VISION
PROCESSING
.
378
12.2.3
STEREOVISION
AND
RANGE
ESTIMATION
.
380
12.3
POTENTIAL
FOR
REMOTE
SENSING
APPLICATIONS
.
384
13.
AUTONOMOUS
ROBOT
TASK
PLANNING
.
385
13.1
LOGIC
PROGRAMMING
.
387
13.2
ROBOTIC
PLAN
GENERATION
.
389
13.2.1
PLAN
GENERATION
AS
SEARCH
.
390
13.2.2
PLAN
GENERATION
USING
EXPERT
SYSTEMS
.
399
13.3
BEHAVIOUR-BASED
REFLEXIVE
CONTROL
.
406
13.4
HYBRID
PLANNING
METHODS
.
411
13.5
ROBOT
CONTROL
ARCHITECTURE
.
417
13.5.1
DISTRIBUTED
ARTIFICIAL
INTELLIGENCE
.
417
13.5.2
HIERARCHICAL
ARCHITECTURES
.
418
13.5.3
BLACKBOARD
ARCHITECTURES
.
421
13.6
FUTURE
DEVELOPMENTS
IN
ROBOTIC
AUTONOMY
.
423
13.7
SUMMARY
.
427
14.
SPACECRAFT
ORBIT
CONTROL
SYSTEM
.
428
14.1
ORBITAL
MECHANICS
.
428
14.2
ROCKET
PROPULSION
SYSTEM
.
433
14.2.1
ELECTRIC
PROPULSION
SYSTEMS
.
438
14.3
MISSION
PROFILE
.
444
15.
SPACECRAFT
ATTITUDE
CONTROL
SYSTEM
.
454
15.1
IN-ORBIT
ATTITUDE
PERTURBATIONS
.
455
15.2
ATTITUDE
ACTUATION
SYSTEMS
.
458
15.3
SPACECRAFT
ATTITUDE
DYNAMICS
.
464
15.4
ATTITUDE
CONTROL
ALGORITHMS
.
471
15.4.1
CONTROL
MOMENT
GYROSCOPE
CONTROL
.
476
15.4.2
OPTIMAL
ATTITUDE
SLEWING
.
479
15.5
INERTIAL
NAVIGATION
.
482
15.5.1
GUIDANCE
NAVIGATION
AND
CONTROL
(GNC)
SENSORS
.
483
15.5.2
KALMAN
FILTERING
.
488
15.6
SUMMARY
.
490
CONTENTS
XI
16.
SPACECRAFT
AVIONICS
(C&DH)
SUBSYSTEMS
.
491
16.1
ONBOARD
FLIGHT
COMPUTER
TECHNOLOGIES
.
491
16.2
RADIATION-HARDENED
ELECTRONICS
.
495
16.3
SPACE
COMPUTATIONAL
ARCHITECTURES
.
499
16.4
COMMAND
AND
DATA
HANDLING
(C&DH)
.
503
16.5
ADVANCES
IN
ELECTRONICS
TECHNOLOGIES
.
506
17.
SPACECRAFT
COMMUNICATIONS
(TT&C)
SUBSYSTEM
.
509
17.1
SPACE
COMMUNICATION
FREQUENCY
BANDS
.
510
17.2
ONBOARD
RADIO-FREQUENCY
(RF)
DEVICES
.
511
17.3
SIGNAL CODING
AND
MODULATION
.
516
17.3.1
FORMATTING
AND
SOURCE
ENCODING
.
520
17.3.2
CHANNEL
CODING
.
522
17.3.3
DIGITAL
MODULATION
.
523
17.3.4
SPREAD
SPECTRUM
TECHNIQUES
.
526
17.4
SATELLITE
LINK
BUDGET
.
527
17.5
DEDICATED
TT&C
SERVICES
.
530
17.6
OPTICAL
SPACE
COMMUNICATION
TECHNOLOGIES
.
534
18.
SPACECRAFT
ONBOARD
POWER
SUBSYSTEMS
.
536
18.1
ONBOARD
POWER
GENERATION
.
536
18.1.1
SOLAR
ARRAYS
.
537
18.1.2
NUCLEAR
SOURCES
(RTGS)
.
539
18.2
ONBOARD
POWER
STORAGE
.
542
18.3
POWER
DISTRIBUTION
.
545
18.4
POWER
DISSIPATION
(THERMAL
CONTROL
SUBSYSTEM)
.
546
18.5
POWER
SYSTEM
RELIABILITY
.
553
19.
SPACECRAFT
STRUCTURAL
CONFIGURATION
.
555
19.1
MATERIAL
SELECTION
.
556
19.2
SPACECRAFT
STRUCTURAL
ANALYSIS
.
559
19.3
SMART
MATERIALS
AND
STRUCTURES
.
565
20.
COMMERCIAL
AND
LEGAL
CONSTRAINTS
ON
ROBOTIC
SPACE
MISSIONS
.
570
20.1
ATLAS
COST-BENEFIT
ANALYSIS
.
571
20.2 ATLAS
AND
TECHNOLOGY
TRANSFER
.
583
20.2.1
OCEANOGRAPHIC
APPLICATIONS
.
586
20.3
LEGAL
ENVIRONMENT
OF
SPACE
ACTIVITIES
.
589
20.3.1
UN
TREATY
SPACE
LAW
.
589
20.3.2
SPACE
INSURANCE
.
594
20.3.3
LAW
OF
CONTRACT
.
596
XII
CONTENTS
21.
CONCLUSIONS
.
599
21.1
INTERNATIONAL
SPACE
STATION
(ISS)
AND
MICROGRAVITY
MANUFACTURING
.
599
21.2
FUTURE
LUNAR
MISSIONS
AND
LUNAR
RESOURCE
UTILISATION
.
607
21.3
FUTURE
MARS
MISSIONS
AND
MARTIAN
RESOURCE
UTILISATION
.
619
22.
REFERENCES
.
627
INDEX
.
652 |
| any_adam_object | 1 |
| author | Ellery, Alex 1963- |
| author_GND | (DE-588)121848736 |
| author_facet | Ellery, Alex 1963- |
| author_role | aut |
| author_sort | Ellery, Alex 1963- |
| author_variant | a e ae |
| building | Verbundindex |
| bvnumber | BV013078815 |
| callnumber-first | T - Technology |
| callnumber-label | TL1097 |
| callnumber-raw | TL1097 |
| callnumber-search | TL1097 |
| callnumber-sort | TL 41097 |
| callnumber-subject | TL - Motor Vehicles and Aeronautics |
| classification_rvk | US 9500 ZO 8200 |
| ctrlnum | (OCoLC)247646455 (DE-599)BVBBV013078815 |
| dewey-full | 629.47 |
| dewey-hundreds | 600 - Technology (Applied sciences) |
| dewey-ones | 629 - Other branches of engineering |
| dewey-raw | 629.47 |
| dewey-search | 629.47 |
| dewey-sort | 3629.47 |
| dewey-tens | 620 - Engineering and allied operations |
| discipline | Physik Verkehr / Transport |
| format | Book |
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| id | DE-604.BV013078815 |
| illustrated | Illustrated |
| indexdate | 2024-08-17T00:47:27Z |
| institution | BVB |
| isbn | 185233164X |
| language | English |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-008910558 |
| oclc_num | 247646455 |
| open_access_boolean | |
| owner | DE-703 DE-706 DE-83 DE-11 |
| owner_facet | DE-703 DE-706 DE-83 DE-11 |
| physical | XVIII, 663 S. graph. Darst. |
| publishDate | 2000 |
| publishDateSearch | 2000 |
| publishDateSort | 2000 |
| publisher | Springer [u.a.] |
| record_format | marc |
| series2 | Springer praxis books in astronomy and space sciences |
| spelling | Ellery, Alex 1963- Verfasser (DE-588)121848736 aut An introduction to space robotics Alex Ellery London [u.a.] Springer [u.a.] 2000 XVIII, 663 S. graph. Darst. txt rdacontent n rdamedia nc rdacarrier Springer praxis books in astronomy and space sciences Raumfahrttechnik - Robotik Space robotics Robotik (DE-588)4261462-4 gnd rswk-swf Raumfahrttechnik (DE-588)4177061-4 gnd rswk-swf Raumfahrttechnik (DE-588)4177061-4 s Robotik (DE-588)4261462-4 s DE-604 DNB Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=008910558&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Ellery, Alex 1963- An introduction to space robotics Raumfahrttechnik - Robotik Space robotics Robotik (DE-588)4261462-4 gnd Raumfahrttechnik (DE-588)4177061-4 gnd |
| subject_GND | (DE-588)4261462-4 (DE-588)4177061-4 |
| title | An introduction to space robotics |
| title_auth | An introduction to space robotics |
| title_exact_search | An introduction to space robotics |
| title_full | An introduction to space robotics Alex Ellery |
| title_fullStr | An introduction to space robotics Alex Ellery |
| title_full_unstemmed | An introduction to space robotics Alex Ellery |
| title_short | An introduction to space robotics |
| title_sort | an introduction to space robotics |
| topic | Raumfahrttechnik - Robotik Space robotics Robotik (DE-588)4261462-4 gnd Raumfahrttechnik (DE-588)4177061-4 gnd |
| topic_facet | Raumfahrttechnik - Robotik Space robotics Robotik Raumfahrttechnik |
| url | http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=008910558&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
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