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. - Provides for the first time comprehensive coverage of various aspects of tethered space robots (TSR) - Presents both fundamental principles and application technologies including pose measurement, dynamics and control - Describes some new control techniques, including a coordinated control method for tracking optimal trajectory, coordinated coupling control and coordinated approaching control using mobile tether attachment points

Prof. Huang received B.S. and M.S. from Northwestern Polytechnical University in 1998, 2001, respectively, and PhD from the Chinese University of Hong Kong in the area of Automation and Robotics in 2005. He is currently a professor of the School of Astronautics and Vice Director of Research Center for Intelligent Robotics at the Northwestern Polytechnical University. His research interests include Space Robotics, Tethered Space Robotics, Intelligent Control, Machine Vision, Space Teleoperation.

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.

• Provides for the first time comprehensive coverage of various aspects of tethered space robots (TSR)
• Presents both fundamental principles and application technologies including pose measurement, dynamics and control
• Describes some new control techniques, including a coordinated control method for tracking optimal trajectory, coordinated coupling control and coordinated approaching control using mobile tether attachment points

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