An Introduction to Space Robotics

Alex Ellery

The advent of the International Space Station has created a demand for robotic systems in Earth orbit for in-orbit servicing as part of a more general space robotic infrastructure. The renewed interest in the exploration of Mars exemplified by the Mars Pathfinder mission has placed emphasis on the delivery of robotic rovers to planetary surfaces to enable detailed in-situ study of the planets of our solar system and, in particular, the search for life. These are just two examples of the important part that robotics has to play in the space programme.

This book has been written to meet the demand for an integrated text for graduate students and professionals in space robotics and related fields. It provides an overview of robotics technology as applied to the space environment and space technologies relevant to robotic spacecraft design, to support the central role that space robotics will play in present and future space exploration and commercialisation.

Table of contents:

Foreword
Preface
1. Introduction
2. Robotic explorer missions
3. In-Orbit servicing missions
4. Man-machine interface
5. Systems design example (ATLAS)
6. Robotic manipulator kinematics
7. Robotic manipulator dynamics
8. Space freeflyer kinemo-dynamics formulations
9. Manipulator trajectory planning
10. Robotic manipulator control systems
11. Robotic sensorimotor subsystems
12. Vision and image processing
13. Autonomous robot task planning
14. Spacecraft orbit control system
15. Spacecraft attitude control system
16. Spacecraft avionics (C&DH) subsystems
17. Spacecraft communications (TT&C) subsystems
18. Spacecraft onboard power subsystems
19. Spacecraft structural configuration
20. Commercial and legal constraints on robotic space missions
21. Conclusions
22. References
Index

Extent: 672 pages
Binding: hardback
Publication Date: August 2000
ISBN: 978-1-85233-164-1

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