{"title":"Spacecraft-Mounted Robotics","authors":"P. Tsiotras, Matthew King-Smith, Lorenzo Ticozzi","doi":"10.1146/annurev-control-062122-082114","DOIUrl":null,"url":null,"abstract":"Space-mounted robotics is becoming increasingly mainstream for many space missions. The aim of this article is threefold: first, to give a broad and quick overview of the importance of spacecraft-mounted robotics for future in-orbit servicing missions; second, to review the basic current approaches for modeling and control of spacecraft-mounted robotic systems; and third, to introduce some new developments in terms of modeling and control of spacecraft-mounted robotic manipulators using the language of hypercomplex numbers (dual quaternions). Some outstanding research questions and potential future directions in the field are also discussed. Expected final online publication date for the Annual Review of Control, Robotics, and Autonomous Systems, Volume 14 is May 2023. Please see http://www.annualreviews.org/page/journal/pubdates for revised estimates.","PeriodicalId":29961,"journal":{"name":"Annual Review of Control Robotics and Autonomous Systems","volume":"21 1","pages":""},"PeriodicalIF":11.2000,"publicationDate":"2022-10-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Annual Review of Control Robotics and Autonomous Systems","FirstCategoryId":"94","ListUrlMain":"https://doi.org/10.1146/annurev-control-062122-082114","RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"AUTOMATION & CONTROL SYSTEMS","Score":null,"Total":0}
引用次数: 1
Abstract
Space-mounted robotics is becoming increasingly mainstream for many space missions. The aim of this article is threefold: first, to give a broad and quick overview of the importance of spacecraft-mounted robotics for future in-orbit servicing missions; second, to review the basic current approaches for modeling and control of spacecraft-mounted robotic systems; and third, to introduce some new developments in terms of modeling and control of spacecraft-mounted robotic manipulators using the language of hypercomplex numbers (dual quaternions). Some outstanding research questions and potential future directions in the field are also discussed. Expected final online publication date for the Annual Review of Control, Robotics, and Autonomous Systems, Volume 14 is May 2023. Please see http://www.annualreviews.org/page/journal/pubdates for revised estimates.
期刊介绍:
The Annual Review of Control, Robotics, and Autonomous Systems offers comprehensive reviews on theoretical and applied developments influencing autonomous and semiautonomous systems engineering. Major areas covered include control, robotics, mechanics, optimization, communication, information theory, machine learning, computing, and signal processing. The journal extends its reach beyond engineering to intersect with fields like biology, neuroscience, and human behavioral sciences. The current volume has transitioned to open access through the Subscribe to Open program, with all articles published under a CC BY license.