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Space robotics 版權信息
- ISBN:9787568291477
- 條形碼:9787568291477 ; 978-7-5682-9147-7
- 裝幀:一般膠版紙
- 冊數:暫無
- 重量:暫無
- 所屬分類:
Space robotics 內容簡介
《空間機器人(英文版)》是北京理工大學出版社與Springer Nature聯合出版圖書!犊臻g機器人(英文版)》詳實論述了極限環境下空間機器人的基本設計理論,介紹了空間機器人工程實現的基本方法和步驟,著重講述了空間機器人運動學與動力學、運動規劃與控制、系統總體設計、機械系統設計與驗證、控制系統設計、空間機器人系統仿真等內容,還給出了大型空間機械臂設計、空間移動機器人設計、行星表面采樣機械臂設計及驗證等大量工程實例。《空間機器人(英文版)》兼備科學前瞻性和工程實用性,可為機器人專業、航空航天領域特種機械、智能機械等專業技術人員以及從事戰略性工程的項目管理人員提供重要參考。
Space robotics 目錄
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
……
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 Robots
16 Future Prospects of Space Robots
Space robotics 作者簡介
王耀兵,博士,研究員,博士生導師,現任“空間智能機器人系統技術與應用”北京市重點實驗室主任、中國空間技術研究院“空間智能機械系統技術”核心專業實驗室主任、國防科技工業空間技術創新中心學術委員會委員、中國宇航學會機器人專業委員會委員。長期從事空間機器人及航天器機械系統技術研究工作,參加過多個宇航型號研制和預先研究項目,完成了“大型空間機械臂”“月球表面采樣機械臂”“機器人航天員”“在軌服務多機器人系統”“四足仿生移動機器人”等多個空間機器人產品的開發工作,擁有空間機器人相關授權發明專利20余項。
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