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 |