000			03764nam a22004575i 4500
001			u373843
003			SIRSI
005			20160812084205.0
007			cr nn 008mamaa
008			100406s2010 gw | s |||| 0|eng d
020			_a9783642107245 _9978-3-642-10724-5
040			_cMX-MeUAM
050		4	_aTJ210.2-211.495
050		4	_aTJ163.12
082	0	4	_a629.8 _223
100	1		_aZhu, Wen-Hong. _eauthor.
245	1	0	_aVirtual Decomposition Control _h[recurso electrónico] : _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	_zLibro electrónico _uhttp://148.231.10.114:2048/login?url=http://link.springer.com/book/10.1007/978-3-642-10724-5
596			_a19
942			_cLIBRO_ELEC
999			_c201723 _d201723