This course will cover the following topics: · What is robot: history and applications · Basics of feedback control · Design consideration in space robots · Orbital robotics o History of robotic manipulators for orbital missions o Kinematics, dynamics and control of free-flying robots o Vibration dynamics and suppression control o Target capture and impact dynamics o Hardware test bed principles for the motion in micro-gravity · Lunar/planetary robotics o History of lunar/planetary robots o Mobility system design for surface locomotion o Wheel-soil traction mechanics o Sensing and navigation o Localization and mapping · Teleoperation and autonomy o Communication bandwidth and latency in teleoperation o Shared autonomy
Outcome:
Having taken this course students will be able to · Answer to “what”, “why” and “how” questions about robots and their application to space missions. · Outline the basics of robot control and the challenges of space robotics. · Describe the principle core technologies for both Earth orbital robotics and lunar/planetary robotics.
