Titlebook: Virtual Decomposition Control; Toward Hyper Degrees Wen-Hong Zhu Book 2010 Springer-Verlag Berlin Heidelberg 2010 Adaptive control.Control

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Virtual Decomposition Control - General Formulationph. Then, the subsystem dynamics based control is applied to make each subsystem qualified to be ., subject to certain geometric and force constraints. The . of every subsystem results in the stability and convergence of the entire robot, in which the concept of . plays a vital role in representing the dynamic interactions among the subsystems.

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Introductionted in Karel Capek’s 1921 play Rossum’s Universal Robots (RUR), and the concept quickly found its way into the popular imagination, becoming the subject of various dramas, books, and movies. The term “robotics” and the famous three laws of robotics were first introduced in Isaac Asimov’s science fic

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Mathematical PreliminariesAfter that, vectors and coordinate systems are introduced, particularly the body-frame referenced vector expressions are emphasized. Orientations expressed by quaternions are given. Then, linear/angular velocity vectors and force/moment vectors are defined, leading to the rigid body dynamics express

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Control of Motor/Transmission Assembliessider the fact that a joint motor/transmission assembly consists of merely rigid bodies. A natural question is, therefore, raised about the possibility of replacing the joint dynamics by rigid body dynamics.