• Chapter 1 Introduction
  • 1.1 Inertially Stabilized Platform
  • 1.2 Parallel Manipulator
  • 1.3 Attitude Control
  • 1.4 Problem Statement
  • 1.5 Thesis Contents
• Chapter 2 An Introduction to Orbital Coordinates
  • 2.1 Line Of Sight
  • 2.2 Orbital Coordinates
    • 2.2.1 ECI Coordinate
    • 2.2.2 ECEF Coordinate
    • 2.2.3 NED Coordinate
    • 2.2.4 LVLH Coordinate
  • 2.3 Satellite look angle
  • 2.4 Transformation Matrix
    • 2.4.1 NED to ECEF Coordinate
    • 2.4.2 ECI to ECEF Coordinate
  • 2.5 Time system
  • 2.6 Kepler’s Laws
  • 2.7 Orbital Perturbations
    • 2.7.1 An Introduction to Orbital Perturbation
    • 2.7.2 Perturbation Function
    • 2.7.3 Gravity Perturbation
• Chapter 3 3-RPS Parallel Robot
  • 3.1 Introduction to 3-RPS Parallel Robot
    • 3.1.1 Degree Of Freedom
  • 3.2 Kinematics of 3-RPS Parallel Robot
    • 3.2.1 Inverse Kinematics
    • 3.2.2 Forward Kinematics
  • 3.3 Workspace
• Chapter 4 Dynamic Modeling
  • 4.1 Lagrangian Method
  • 4.2 Newtonian Method
• Chapter 5 Desired Trajectory
  • 5.1 LOS Equation
  • 5.2 To Solve a Representative Example 1
• Chapter 6 Control of Parallel Robot
  • 6.1 Introduction
  • 6.2 Leg model
    • 6.2.1 DC Motor Model
  • 6.3 Trajectory generation
  • 6.4 PID controller
  • 6.5 Position control
  • 6.6 To complete solution of represented example 1
  • 6.7 Accuracy of Shooting
  • 6.8 Torques and Forces
  • 6.9 Calculation of Saturation Time
  • 6.10 Energy Consumption
  • 6.11 Reaction wheel
  • 6.12 To solve a representative example 2
  • 6.13 To representative example 3
• Chapter 7
  • 7.1 Conclusion
  • 7.2 Future Works
• Appendix A
• References
• چکیده
  • كلمات كليدي (5 الي 7 كلمه):
  • روبات موازی، ماهواره، خط دید، کنترل، عکسبرداری

...see more