Tethered Space Robot: Dynamics, Measurement, and Control

Tethered Space Robot: Dynamics, Measurement, and Control

By: Panfeng Huang (author), Jian-Guo Liu (author), Zhongjie Meng (author), Fan Zhang (author)Paperback

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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.

About Author

Prof. JianJang (J.J.) Huang received the B.S. degree in Electrical Engineering (EE) and the M.S. degree in Graduate Institute of Photonics and Optoelectronics (GIPO) from National Taiwan University (NTU), Taipei, Taiwan, in 1994 and 1996, respectively, and the Ph.D. degree in Electrical Engineering from the University of Illinois, Urbana-Champaign, in 2002. He had worked with WJ (Watkins Johnson) Communications in California, as a Staff Scientist from 2002 to 2004. He then came back to Taiwan in 2004 and is currently the professor at NTU EE and GIPO. Prof. Huang has been involved in the development of optoelectronic and electronic devices. He has developed a spin-coating method for nanosphere lithography (NSL) to significantly improve the performance of light emitting diodes (LEDs), solar cells and nanorod devices. His NSL approach has been licensed to several LED companies in Taiwan. He has also fabricated and characterized IGZO TFTs and the corresponding circuits on glass and flexible substrates. In recent years, his group has spent great efforts in realizing cancer cell probes using ZnO nanorods, and high-sensitivity protein sensors based on IGZO TFTs. Dr. Meng received his PhD degree from Northwestern Polytechnical University in 2010. His research interests include Space Robotics, Nonlinear Intelligent Control and so on. He published about 50 paper and one books in Chinese. Dr. Guo received his PhD degree from University of Leeds on Mechanical Engineering. He worked Tsinghua University and Tsinghua Satellite Tech. LTD from 2001 to 2004. He is assistant professor of Department of Space Engineering, Faculty of Aerospace Engineering, Delft University of Technology, Netherlands. His research interests include micro satellite, Aircraft Systems Engineering, and Distributed Space System.


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

Product Details

  • ISBN13: 9780128123096
  • Format: Paperback
  • Number Of Pages: 316
  • ID: 9780128123096
  • weight: 510
  • ISBN10: 0128123095

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