Virtual Decomposition Control Toward Hyper Degrees of Freedom Robots

Virtual Decomposition Control Toward Hyper Degrees of Freedom Robots / by Wen-Hong Zhu.

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...

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Bibliographic Details
Main Author: Zhu, Wen-Hong (Author)
Corporate Author: SpringerLink (Online service)
Format: eBook
Language:English
Published: Berlin, Heidelberg : Springer Berlin Heidelberg : Imprint: Springer, 2010.
Edition:1st ed. 2010.
Series:Springer Tracts in Advanced Robotics, 60
Springer eBook Collection.
Subjects:
Robotics.
Automation.
Artificial intelligence.
Control engineering.
Mechatronics.
Electronic resources (E-books)
Online Access:Click to view e-book
Holy Cross Note:Loaded electronically.
Electronic access restricted to members of the Holy Cross Community.
Table of Contents:
  • 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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