Abstract
Kinematics and dynamics are the basis of analyzing the characteristics and control of space robots. In this chapter, the kinematics equations of a typical space robot system are given, including a description of topological relationships and the kinematics modeling process, which can be used for robot dynamics analysis and path planning. Based on analytical mechanics and vector mechanics, the dynamic models for rigid space robots and flexible space robots are established in this chapter, which can be used for robot dynamics analysis and control algorithm design.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
H. Wei, Robot Dynamics and Control (Higher Education Press, Beijing, 2005)
Y. Liu, Multi-Rigid-Body System Dynamics (Higher Education Press, Beijing, 1989)
W. Huang, C. Shao, Multi-flexible Body System Dynamics (Science Press, Beijing, 1996)
D.A. Turcic, A. Midha, Dynamic analysis of elastic mechanism systems, part I: applications. J. Dyn. Syst. Meas. Control 106(4), 249–254 (1984)
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
Copyright information
© 2021 Beijing Institute of Technology Press and Springer Nature Singapore Pte Ltd.
About this chapter
Cite this chapter
Wang, Y. (2021). Kinematics and Dynamics of Space Robots. In: Space Robotics. Space Science and Technologies. Springer, Singapore. https://doi.org/10.1007/978-981-15-4902-1_2
Download citation
DOI: https://doi.org/10.1007/978-981-15-4902-1_2
Published:
Publisher Name: Springer, Singapore
Print ISBN: 978-981-15-4901-4
Online ISBN: 978-981-15-4902-1
eBook Packages: EngineeringEngineering (R0)