Tethered Space Robot: Dynamics, Measurement, and Control

Tethered Space Robot: Dynamics, Measurement, and Control discusses a novel tethered space robot (TSR) system that contains the space platform, flexible tether and gripper. TSR can capture and remove non-cooperative targets such as space debris. It is the first time the concept has been described in a book, which describes the system and mission design of TSR and then introduces the latest research on pose measurement, dynamics and control. The book covers the TSR system, from principle to applications, including a complete implementing scheme. A useful reference for researchers, engineers and students interested in space robots, OOS and debris removal.

Provides for the first time comprehensive coverage of various aspects of tethered space robots (TSR)Presents both fundamental principles and application technologies including pose measurement, dynamics and controlDescribes some new control techniques, including a coordinated control method for tracking optimal trajectory, coordinated coupling control and coordinated approaching control using mobile tether attachment points

1. Introduction
2. Dynamics and Kinetics of Tethered Space Robot System
3. Pose Measurement based on Vision Perception
4. Coordinated Control Method for Tracking Optimal Trajectory
5. Coordinated Control by Considering the Tether Distributed Mass
6. Approach Control by Considering the Platform Movement
7. Coordinated Coupling Control by considering releasing mechanism
8. Coordinated Approaching Control Using Mobile Tether Attachment Points
9. Impact Dynamic Modeling and Adaptive Target Capture Control
10. Post-capture Attitude Control for a Tethered Space Robot-Target Combination System
11. Conclusions