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Book Cover
E-book
Author Huang, Panfeng.

Title Tethered Space Robot : Dynamics, Measurement, and Control
Published Saint Louis : Elsevier Science, 2017
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Description 1 online resource (318 pages)
Contents Front Cover -- Tethered Space Robot: Dynamics, Measurement, and Control -- Copyright -- Contents -- Chapter 1: Introduction -- 1.1. Background -- 1.1.1. Brief History of the Space Tentacles -- 1.1.2. Brief History of the Space Manipulator -- 1.1.3. Brief History of the Space Tether -- 1.1.3.1. Single Space Tether -- Artificial Gravity -- Orbital Transfer -- Attitude Stabilization -- 1.1.3.2. Multi-Space Tethers -- Dynamics and Control -- Attitude Control -- Structure and Configuration -- 1.1.4. Brief History of the TSR
1.1.4.1. Releasing/Retrieving Phase1.1.4.2. Capture and Post-Capture Phase -- 1.1.4.3. Deorbiting Phase -- 1.2. System and Mission Design of TSR -- 1.2.1. System Architecture -- 1.2.2. Mission Scenarios -- References -- Further Reading -- Chapter 2: Dynamics Modeling of the Space Tether -- 2.1. Dynamics Modeling and Solving Based on the Bead Model -- 2.2. Dynamics Modeling and solving Based on Ritz method -- 2.3. Dynamics Modeling and Solving Based on Hybrid Unit Method -- 2.4. Dynamics Modeling and Solving Based on Newton-Euler Method
2.5. Dynamics Modeling and Solving Based on HamiltonianReferences -- Further Reading -- Chapter : Pose Measurement Based on Vision Perception -- 3.1. Measurement System Scheme -- 3.2. Target Contour Tracking -- 3.2.1. Related Works -- 3.2.2. Feature Extraction -- 3.2.2.1. Simulation Comparisons -- 3.2.2.2. Description of SURF -- 3.2.2.3. Improved SURF -- 3.2.3. Feature Matching Algorithm -- 3.2.3.1. Improved P-KLT Algorithm -- 3.2.3.2. Rejecting the Outliers -- 3.2.4. Precise Location and Adaptive Strategy -- 3.2.4.1. Precise Location of Object
3.4.5. Visual Servoing Controller3.4.6. Experimental Validation -- 3.4.6.1. Experimental Set-up -- 3.4.6.2. Design of Experiments -- 3.4.6.3. Results and Discussions -- Qualitative Analysis -- Quantitative Comparisons -- References -- Chapter 4: Optimal Trajectory Tracking in Approaching -- 4.1. Trajectory Modeling in Approaching -- 4.2. Coordinated Control Method -- 4.2.1. Optimization and Distribution of the Orbit Control Force -- 4.2.2. Tether Reeling Model and Tethers Tension Force Controller -- 4.2.3. Fuzzy PD Controller for Tracking Optimal Trajectory
Discrete Point FilterAdaptive Features Updating Strategy -- 3.2.5. Results, Limitations and Future Works -- 3.2.5.1. Experiments Condition -- 3.2.5.2. Results -- Quantitative Comparisons -- Qualitative Analysis -- 3.3. Detection of ROI -- 3.3.1. Arc Support Region -- 3.3.2. Estimation of Circle Parameters -- 3.4. Visual Servoing and Pose Measurement -- 3.4.1. Theory of Calculating Azimuth Angles -- 3.4.2. Improved Template Matching -- 3.4.3. Least Square Integrated Predictor -- 3.4.4. Updating Strategy of Dynamic Template
Notes ""4.3. Attitude Stability Strategy""
Print version record
Subject Space robotics.
Form Electronic book
Author Guo, Jian.
Meng, Zhongjie
Zhang, Fan.
ISBN 0128123109
9780128123102