Virtual Decomposition Control: Toward Hyper Degrees of Freedom Robots

Wen-Hong Zhu

apr. 2010 · Springer Tracts in Advanced Robotics Bok 60 · Springer

E-bok

448

Sidor

Betyg och recensioner verifieras inte Läs mer

Om den här e-boken

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.

Betygsätt e-boken

Berätta vad du tycker.

Läsinformation

Smartphones och surfplattor

Installera appen Google Play Böcker för Android och iPad/iPhone. Appen synkroniseras automatiskt med ditt konto så att du kan läsa online eller offline var du än befinner dig.

Laptops och stationära datorer

Du kan lyssna på ljudböcker som du har köpt på Google Play via webbläsaren på datorn.

Läsplattor och andra enheter

Om du vill läsa boken på enheter med e-bläck, till exempel Kobo-läsplattor, måste du ladda ned en fil och överföra den till enheten. Följ anvisningarna i hjälpcentret om du vill överföra filerna till en kompatibel läsplatta.

Rapportera olagligt innehåll