Space Robotics（空间机器人）

1 Introduction
1．1 Definition， Characteristics， and Classification of Space Robot2<2r>

1．1．1 Definition of Space Robot
1．1．2 Characteristics of Space Robot2<2r>

1．1．3 Classification of Space Robot2<2r>1．2 Basic Composition and Main Research Areas ofSpaceRobot2<2r>

1．2．1 Basic Composition of Space Robot2<2r>

1．2．2 Main Research Areas of Space Robotics [3]

Reference2<2r>
2Kinematics and Dynamics of Space Robot2<2r>

2．1 Topology Mathematical Description
2．2 Definition of Coordinate and CoordinateTransformation
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 byLagrange Method
2．4．2 Dynamic Equation of Space Rigid Robot Established byNewton-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
Reference2<2r>
3Motion 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 Singularitie2<2r>

3．2 Motion Planning of Space Robot
3．2．1 Global Path Planning
3．2．2 Local Path Planning
Reference2<2r>
4Motion Control of Space Robot2<2r>

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
5Force 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
Reference2<2r>
6 SpaceRobot System
6．1 System Design
6．1．1 Design Content2<2r>6．1．2 Design Principle2<2r>

6．2 Design Elements and Constraint Requirement2<2r>

6．2．1 Functional Requirement2<2r>6．2．2 Performance Requirement2<2r>

6．2．3 Environmental Constraint2<2r>
7Space Robot Mechanical System
8Space Robot Control System
9Space Robot Perception System
10Space Robot Teleoperation System
11Space Robot System Verification
12Design Example of Large Space Manipulator
13Design Example of Planetary Exploration Mobile Robot
14Design Example of Planetary Surface Sampling Manipulator
15Current State of Space Robot2<2r>16 Future Prospects of Space Robots

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