Dynamics and Control of Autonomous Space Vehicles and Robotics

Discusses the use of manipulators on satellites and the dynamics of satellites carrying robotic manipulators and of planetary rovers.

Ranjan Vepa (Author)

9781108422840, Cambridge University Press

Hardback, published 2 May 2019

368 pages, 177 b/w illus. 6 tables
25.3 x 17.8 x 2.1 cm, 0.89 kg

'This book is useful particularly as a single source of information for the broad spectrum of technologies related to space robotics and would be a good overview of the most established concepts and methodologies for graduate students and researchers entering the field. It would be a suitable text for a dedicated taught module in space robotics, or as a guide for graduate study in robotics, dynamics and control related to space engineering … Overall, this book is a worthwhile read for capable space roboticists looking to build or extend their knowledge of the field.' Mark A. Post, The Aeronautical Journal

Presenting the established principles underpinning space robotics (conservation of momentum and energy, stability) with a thorough and modern approach, chapters build from general physical foundations through an extensive treatment of kinematics of multi-body systems, and then to conservation principles in dynamics. The latter part of the book focuses on real-life applications related to space systems. Drawing upon years of practical experience and using numerous solved examples, illustrative applications and MATLAB, the author includes: an explanation of basic space mechanics and the dynamics of space vehicles; a rigorous treatment of conservation and variational principles in dynamics and in control theory that can be applied to a range of space vehicles and robotic systems; and a systematic presentation of the application of dynamics and control theory to real spacecraft systems.

1. Introduction to robotic spacecraft and space robotics
2. Space vehicle orbit dynamics
3. Space vehicle attitude dynamics and control
4. Manipulators on space platforms: dynamics and control
5. Kinematics, dynamics and control of mobile robot manipulators
6. Planetary rovers and mobile robotics
7. Navigation and localization
8. Sensing and estimation of spacecraft dynamics
Index.

Subject Areas: Other technologies & applied sciences [TT], Aerospace & aviation technology [TRP], Automatic control engineering [TJFM], Aerodynamics [TGMF1]