Virtual Decomposition Control
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ISBN-13:
9783642107238
Veröffentl:
2010
Erscheinungsdatum:
29.03.2010
Seiten:
460
Autor:
Wen-Hong Zhu
Gewicht:
877 g
Format:
241x161x32 mm
Serie:
60, Springer Tracts in Advanced Robotics
Sprache:
Englisch
Beschreibung:
Driven by the need to achieve superior control performances for robots with hyper degrees of freedom, the virtual decomposition control approach is thoroughly presented in this book. This approach uses subsystem (such as links and joints of a complex robot) dynamics to conduct control design, while guaranteeing the stability and convergence of the entire complex robot without compromising the rigorousness of the system analysis.
The most up-to-date on virtual decomposition control
Virtual Decomposition Control Theory.- Mathematical Preliminaries.- Virtual Decomposition Control - A Two DOF Example.- Virtual Decomposition Control - General Formulation.- Virtual Decomposition Control Applications.- Control of Electrically Driven Robots.- Control of Motor/Transmission Assemblies.- Control of Hydraulic Robots.- Control of Coordinated Multiple Robot Manipulators.- Control of Space Robots.- Control of Humanoid Robots.- Control of Force-Reflected Bilateral Teleoperation.- Control of Modular Robot Manipulators.- Control of Flexible Link Robots.- Applications to Electrical Circuits.
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