By Wen-Hong Zhu (auth.)
Driven by means of the necessity to in achieving improved keep watch over performances for robots with hyper levels of freedom, the digital decomposition regulate technique is carefully awarded during this booklet. This technique makes use of subsystem (such as hyperlinks and joints of a posh robotic) dynamics to behavior keep an eye on layout, whereas ensuring the steadiness and convergence of the full advanced robotic with out compromising the rigorousness of the procedure analysis.
The relevant thought of this technique is the definition of the digital balance. the steadiness of the complete complicated robotic is mathematically comparable to the digital balance of each subsystem. This truth permits us to transform a wide challenge to a couple easy issues of mathematical walk in the park.
This e-book contains fourteen chapters. the 1st 5 chapters shape the root of this technique. the remainder 9 chapters are quite self reliant. ranging from bankruptcy 6, every one bankruptcy bargains with a selected kind of structures together with motor/transmission assemblies, hydraulic robots, coordinated a number of robots, area robots, humanoid robots, adaptive teleoperation, and modular robotic manipulators. on the finish, the extensions of this method of distributed-parameter platforms and to electric circuits are given, paving the way in which for different functions to keep on with.
This e-book is meant for practitioners, researchers, and graduate scholars who've received primary wisdom on robotics and keep watch over structures and feature been dedicated to attaining the easiest keep an eye on performances on complicated robotics platforms and past.