000 03835nam a22004935i 4500
001 978-3-642-10724-5
003 DE-He213
005 20140220084529.0
007 cr nn 008mamaa
008 100406s2010 gw | s |||| 0|eng d
020 _a9783642107245
_9978-3-642-10724-5
024 7 _a10.1007/978-3-642-10724-5
_2doi
050 4 _aTJ210.2-211.495
050 4 _aTJ163.12
072 7 _aTJFM
_2bicssc
072 7 _aTJFD
_2bicssc
072 7 _aTEC004000
_2bisacsh
072 7 _aTEC037000
_2bisacsh
082 0 4 _a629.8
_223
100 1 _aZhu, Wen-Hong.
_eauthor.
245 1 0 _aVirtual Decomposition Control
_h[electronic resource] :
_bToward Hyper Degrees of Freedom Robots /
_cby Wen-Hong Zhu.
264 1 _aBerlin, Heidelberg :
_bSpringer Berlin Heidelberg,
_c2010.
300 _aXXV, 448 p.
_bonline resource.
336 _atext
_btxt
_2rdacontent
337 _acomputer
_bc
_2rdamedia
338 _aonline resource
_bcr
_2rdacarrier
347 _atext file
_bPDF
_2rda
490 1 _aSpringer Tracts in Advanced Robotics,
_x1610-7438 ;
_v60
505 0 _aVirtual 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.
520 _aDriven 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.
650 0 _aEngineering.
650 0 _aArtificial intelligence.
650 0 _aControl engineering systems.
650 1 4 _aEngineering.
650 2 4 _aControl , Robotics, Mechatronics.
650 2 4 _aArtificial Intelligence (incl. Robotics).
710 2 _aSpringerLink (Online service)
773 0 _tSpringer eBooks
776 0 8 _iPrinted edition:
_z9783642107238
830 0 _aSpringer Tracts in Advanced Robotics,
_x1610-7438 ;
_v60
856 4 0 _uhttp://dx.doi.org/10.1007/978-3-642-10724-5
912 _aZDB-2-ENG
999 _c111775
_d111775