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Virtual Decomposition Control

Toward Hyper Degrees of Freedom Robots

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  • The most up-to-date on virtual decomposition control

Part of the book series: Springer Tracts in Advanced Robotics (STAR, volume 60)

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Table of contents (14 chapters)

  1. Front Matter

  2. Virtual Decomposition Control Theory

    1. Front Matter

      Pages 1-1
    2. Introduction

      • Wen-Hong Zhu
      Pages 3-13
    3. Mathematical Preliminaries

      • Wen-Hong Zhu
      Pages 15-43
  3. Virtual Decomposition Control Applications

    1. Front Matter

      Pages 111-111
    2. Control of Electrically Driven Robots

      • Wen-Hong Zhu
      Pages 113-147
    3. Control of Motor/Transmission Assemblies

      • Wen-Hong Zhu
      Pages 149-166
    4. Control of Hydraulic Robots

      • Wen-Hong Zhu
      Pages 167-192
    5. Control of Space Robots

      • Wen-Hong Zhu
      Pages 221-250
    6. Control of Humanoid Robots

      • Wen-Hong Zhu
      Pages 251-301
    7. Control of Modular Robot Manipulators

      • Wen-Hong Zhu
      Pages 325-336
    8. Control of Flexible Link Robots

      • Wen-Hong Zhu
      Pages 337-364
    9. Applications to Electrical Circuits

      • Wen-Hong Zhu
      Pages 365-385
  4. Back Matter

About this book

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.

Reviews

From the reviews:

“This book discusses for the first time about subsystem-based control of robots without compromising control performances, the proposed VDC approach using subsystems dynamics to conduct control computation while rigorously guaranteeing the stability of the entire robot without imposing additional approximations. … a very interesting monograph introducing the new theory of Virtual Decomposition Control (VDC), and applying it fruitfully to the control of various types of robots.” (Silvia Curteanu, Zentralblatt MATH, Vol. 1239, 2012)

Authors and Affiliations

  • Canadian Space Agency, Brossard, Canada

    Wen-Hong Zhu

Bibliographic Information

  • Book Title: Virtual Decomposition Control

  • Book Subtitle: Toward Hyper Degrees of Freedom Robots

  • Authors: Wen-Hong Zhu

  • Series Title: Springer Tracts in Advanced Robotics

  • DOI: https://doi.org/10.1007/978-3-642-10724-5

  • Publisher: Springer Berlin, Heidelberg

  • eBook Packages: Engineering, Engineering (R0)

  • Copyright Information: Springer-Verlag Berlin Heidelberg 2010

  • Hardcover ISBN: 978-3-642-10723-8Published: 29 March 2010

  • Softcover ISBN: 978-3-642-26298-2Published: 04 May 2012

  • eBook ISBN: 978-3-642-10724-5Published: 06 April 2010

  • Series ISSN: 1610-7438

  • Series E-ISSN: 1610-742X

  • Edition Number: 1

  • Number of Pages: XXV, 448

  • Number of Illustrations: 43 b/w illustrations

  • Topics: Robotics and Automation, Artificial Intelligence, Control, Robotics, Mechatronics

Buy it now

Buying options

eBook USD 129.00
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book USD 169.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info
Hardcover Book USD 169.99
Price excludes VAT (USA)
  • Durable hardcover edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Other ways to access