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 robo
- PDF / 8,045,953 Bytes
- 459 Pages / 430 x 660 pts Page_size
- 74 Downloads / 218 Views
Wen-Hong Zhu
Virtual Decomposition Control Toward Hyper Degrees of Freedom Robots
ABC
Professor Bruno Siciliano, Dipartimento di Informatica e Sistemistica, Università di Napoli Federico II, Via Claudio 21, 80125 Napoli, Italy, E-mail: [email protected] Professor Oussama Khatib, Artificial Intelligence Laboratory, Department of Computer Science, Stanford University, Stanford, CA 94305-9010, USA, E-mail: [email protected] Professor Frans Groen, Department of Computer Science, Universiteit van Amsterdam, Kruislaan 403, 1098 SJ Amsterdam, The Netherlands, E-mail: [email protected]
Author Wen-Hong Zhu Canadian Space Agency 6767 route de l’Aeroport Saint-Hubert, QC J3Y 8Y9 Canada E-mail: [email protected]
ISBN 978-3-642-10723-8
e-ISBN 978-3-642-10724-5
DOI 10.1007/978-3-642-10724-5 Springer Tracts in Advanced Robotics
ISSN 1610-7438
Library of Congress Control Number: 2009944183 c 2010
Springer-Verlag Berlin Heidelberg
This work is subject to copyright. All rights are reserved, whether the whole or part of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation, broadcasting, reproduction on microfilm or in any other way, and storage in data banks. Duplication of this publication or parts thereof is permitted only under the provisions of the German Copyright Law of September 9, 1965, in its current version, and permission for use must always be obtained from Springer. Violations are liable for prosecution under the German Copyright Law. The use of general descriptive names, registered names, trademarks, etc. in this publication does not imply, even in the absence of a specific statement, that such names are exempt from the relevant protective laws and regulations and therefore free for general use. Typeset & Cover Design: Scientific Publishing Services Pvt. Ltd., Chennai, India. Printed on acid-free paper 543210 springer.com
Editorial Advisory Board
European
***
ROBOTICS ***
***
Research Network
***
STAR (Springer Tracts in Advanced Robotics) has been promoted under the auspices of EURON (European Robotics Research Network)
EUR ON
Oliver Brock, TU Berlin, Germany Herman Bruyninckx, KU Leuven, Belgium Raja Chatila, LAAS, France Henrik Christensen, Georgia Tech, USA Peter Corke, Queensland University of Technology, Australia Paolo Dario, Scuola S. Anna Pisa, Italy Rüdiger Dillmann, Univ. Karlsruhe, Germany Ken Goldberg, UC Berkeley, USA John Hollerbach, Univ. Utah, USA Makoto Kaneko, Osaka Univ., Japan Lydia Kavraki, Rice Univ., USA Vijay Kumar, Univ. Pennsylvania, USA Sukhan Lee, Sungkyunkwan Univ., Korea Frank Park, Seoul National Univ., Korea Tim Salcudean, Univ. British Columbia, Canada Roland Siegwart, ETH Zurich, Switzerland Gaurav Sukhatme, Univ. Southern California, USA Sebastian Thrun, Stanford Univ., USA Yangsheng Xu, Chinese Univ. Hong Kong, PRC Shin’ichi Yuta, Tsukuba Univ., Japan
Foreword
By the dawn of the new millennium, robotics has undergone a major transformation in scope and dimensions. This expansion
Data Loading...
