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Virtual Decomposition Control
ISBN-13:
9783642107245
Veröffentl:
2010
Seiten:
448
Autor:
Wen-Hong Zhu
Serie:
60, Springer Tracts in Advanced Robotics
eBook Typ:
PDF
eBook Format:
EPUB
Kopierschutz:
1 - PDF Watermark
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.
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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