Virtual Decomposition Control: Toward Hyper Degrees of Freedom Robots

Wen-Hong Zhu

abr. de 2010 · Springer Tracts in Advanced Robotics Libro 60 · Springer

Libro electrónico

448

Páxinas

As valoracións e as recensións non están verificadas Máis información

Acerca deste libro electrónico

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 central concept of this approach is the definition of the virtual stability. The stability of the entire complex robot is mathematically equivalent to the virtual stability of every subsystem. This fact allows us to convert a large problem to a few simple problems with mathematical certainty.

This book comprises fourteen chapters. The first five chapters form the foundation of this approach. The remaining nine chapters are relatively independent. Starting from Chapter 6, each chapter deals with a particular type of systems including motor/transmission assemblies, hydraulic robots, coordinated multiple robots, space robots, humanoid robots, adaptive teleoperation, and modular robot manipulators. At the end, the extensions of this approach to distributed-parameter systems and to electrical circuits are given, paving the way for other applications to follow.

This book is intended for practitioners, researchers, and graduate students who have acquired fundamental knowledge on robotics and control systems and have been committed to achieving the best control performances on complex robotics systems and beyond.

Valora este libro electrónico

Dános a túa opinión.

Información de lectura

Smartphones e tabletas

Instala a aplicación Google Play Libros para Android e iPad/iPhone. Sincronízase automaticamente coa túa conta e permíteche ler contido en liña ou sen conexión desde calquera lugar.

Portátiles e ordenadores de escritorio

Podes escoitar os audiolibros comprados en Google Play a través do navegador web do ordenador.

Lectores de libros electrónicos e outros dispositivos

Para ler contido en dispositivos de tinta electrónica, como os lectores de libros electrónicos Kobo, é necesario descargar un ficheiro e transferilo ao dispositivo. Sigue as instrucións detalladas do Centro de Axuda para transferir ficheiros a lectores electrónicos admitidos.

Denunciar contido ilegal