Virtual decomposition control : toward hyper degrees of freedom robots / by Wen-Hong Zhu.

Format:

Book

Author/Creator:

Zhu, Wen-Hong.

Series:

Springer tracts in advanced robotics ; 60.

Springer tracts in advanced robotics ; 60

Language:

English

Subjects (All):

Robots--Control systems.

Robots.

Decomposition method.

Physical Description:

xxiv, 445 pages : illustrations ; 25 cm.

Place of Publication:

Berlin ; London : Springer, 2010.

Summary:

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. 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.

Contents:

1. Introduction

2. Mathematical preliminaries

3. Virtual decomposition control : a two DOF example

4. Virtual decomposition control : general formulation

5. Control of electrically driven robots

6. Control of motor/transmission assemblies

7. Control of hydraulic robots

8. Control of coordinated multiple robot manipulators

9. Control of space robots

10. Control of humanoid robots

11. Control of force-reflected bilateral teleoperation

12. Control of modular robot manipulators

13. Control of flexible link robots

14. Applications to electrical circuits.

Notes:

Includes bibliographical references and index.

ISBN:

9783642107238

3642107230

OCLC:

471802896