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virtual decomposition control

  • 资源大小:7461 K
  • 上传时间: 2019-09-04
  • 上传用户:txb96
  • 资源积分:2 下载积分
  • 标      签: decomposition virtual control

资 源 简 介

obot control, a subject aimed at making robots behave as desired, has been
extensively developed for more than two decades. Among many books being
published on this subject, a common feature is to treat a robot as a single
system that is to be controlled by a variety of control algorithms depending on
different scenarios and control objectives. However, when a robot becomes more
complex and its degrees of freedom of motion increase substantially, the needed
control computation can easily go beyond the scope a modern computer can
handle within a pre-specified sampling period. A solution is to base the control
on subsystem dynamics.

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