Virtual Decomposition Control Toward Hyper Degrees of Freedom Robots /
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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| Format: | Electronic |
| Language: | English |
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Berlin, Heidelberg :
Springer Berlin Heidelberg,
2010.
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| Series: | Springer Tracts in Advanced Robotics,
60 |
| Subjects: | |
| Online Access: | https://ezaccess.library.uitm.edu.my/login?url=http://dx.doi.org/10.1007/978-3-642-10724-5 |
Table of Contents:
- Part I Virtual Decomposition Control Theory
- Introduction
- Mathematical Preliminaries
- Virtual Decomposition Control - A Two DOF Example
- Virtual Decomposition Control - General Formulation
- Part II 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.