Virtual Decomposition Control [recurso electrónico] : Toward Hyper Degrees of Freedom Robots / by Wen-Hong Zhu.

Por: Zhu, Wen-Hong [author.]Colaborador(es): SpringerLink (Online service)Tipo de material: Texto

TextoSeries Springer Tracts in Advanced Robotics ; 60Editor: Berlin, Heidelberg : Springer Berlin Heidelberg, 2010Descripción: XXV, 448 p. online resourceTipo de contenido: text Tipo de medio: computer Tipo de portador: online resourceISBN: 9783642107245Tema(s): Engineering | Artificial intelligence | Control engineering systems | Engineering | Control , Robotics, Mechatronics | Artificial Intelligence (incl. Robotics)Formatos físicos adicionales: Printed edition:: Sin títuloClasificación CDD: 629.8 Clasificación LoC:TJ210.2-211.495TJ163.12Recursos en línea: Libro electrónico Texto

Contenidos:

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.

En: Springer eBooksResumen: 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.

Existencias ( 1 )
Notas de título ( 3 )

Existencias
Tipo de ítem	Biblioteca actual	Colección	Signatura	Copia número	Estado	Fecha de vencimiento	Código de barras
Libro Electrónico	Biblioteca Electrónica	Colección de Libros Electrónicos	TJ210.2 -211.495 (Browse shelf(Abre debajo))	1	No para préstamo		373843-2001

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.