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20140310143343.0 |
| 007 - PHYSICAL DESCRIPTION FIXED FIELD--GENERAL INFORMATION |
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100406s2010 gw | s |||| 0|eng d |
| 020 ## - INTERNATIONAL STANDARD BOOK NUMBER |
|---|
| International Standard Book Number |
9783642107245 |
|
978-3-642-10724-5 |
| 082 04 - DEWEY DECIMAL CLASSIFICATION NUMBER |
|---|
| Classification number |
629.8 |
| Edition number |
23 |
| 264 #1 - |
|---|
| -- |
Berlin, Heidelberg : |
| -- |
Springer Berlin Heidelberg, |
| -- |
2010. |
| 912 ## - |
|---|
| -- |
ZDB-2-ENG |
| 100 1# - MAIN ENTRY--PERSONAL NAME |
|---|
| Personal name |
Zhu, Wen-Hong. |
| Relator term |
author. |
| 245 10 - IMMEDIATE SOURCE OF ACQUISITION NOTE |
|---|
| Title |
Virtual Decomposition Control |
| Medium |
[electronic resource] : |
| Remainder of title |
Toward Hyper Degrees of Freedom Robots / |
| Statement of responsibility, etc |
by Wen-Hong Zhu. |
| 300 ## - PHYSICAL DESCRIPTION |
|---|
| Extent |
XXV, 448 p. |
| Other physical details |
online resource. |
| 440 1# - SERIES STATEMENT/ADDED ENTRY--TITLE |
|---|
| Title |
Springer Tracts in Advanced Robotics, |
| International Standard Serial Number |
1610-7438 ; |
| Volume number/sequential designation |
60 |
| 505 0# - FORMATTED CONTENTS NOTE |
|---|
| Formatted contents note |
Virtual 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 ## - SUMMARY, ETC. |
|---|
| Summary, etc |
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. |
| 650 #0 - SUBJECT ADDED ENTRY--TOPICAL TERM |
|---|
| Topical term or geographic name as entry element |
Engineering. |
|
|---|
| Topical term or geographic name as entry element |
Artificial intelligence. |
|
|---|
| Topical term or geographic name as entry element |
Control engineering systems. |
|
|---|
| Topical term or geographic name as entry element |
Engineering. |
|
|---|
| Topical term or geographic name as entry element |
Control , Robotics, Mechatronics. |
|
|---|
| Topical term or geographic name as entry element |
Artificial Intelligence (incl. Robotics). |
| 710 2# - ADDED ENTRY--CORPORATE NAME |
|---|
| Corporate name or jurisdiction name as entry element |
SpringerLink (Online service) |
| 773 0# - HOST ITEM ENTRY |
|---|
| Title |
Springer eBooks |
| 776 08 - ADDITIONAL PHYSICAL FORM ENTRY |
|---|
| Display text |
Printed edition: |
| International Standard Book Number |
9783642107238 |
| 856 40 - ELECTRONIC LOCATION AND ACCESS |
|---|
| Uniform Resource Identifier |
http://dx.doi.org/10.1007/978-3-642-10724-5 |
| 942 ## - ADDED ENTRY ELEMENTS (KOHA) |
|---|
| Source of classification or shelving scheme |
|
| Item type |
E-Book |
