Space Robotics: Dynamics and Control

Robotic technology offers two potential benefits for future space exploration. One benefit is minimizing the risk that astronauts face; the other is increasing their productivity. Realizing the benefits of robotic technology in space will require solving several problems which are unique and are now becoming active research topics. One of the most important research areas is dynamics, control, motion and planning for space robots by considering the dynamic interaction between the robot and the base (space station, space shuttle or satellite). Any inefficiency in the planning and control can considerable risk the success of the space mission. "Space Robotics: Dynamics and Control" presents a collection of papers concerning fundamental problems in dynamics and control of space robots, focusing on issues relevant to dynamic base/robot interaction. The authors are all pioneers in theoretical analysis and experimental systems development of space robot technology. The chapters are organized within three problem areas: dynamics problems, nonholonomic nature problems, and control problems. This collection provides a solid reference for researchers in robotics, mechanics, control and astronautical science.