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Erschienen in:
2010 | OriginalPaper | Buchkapitel
Virtual Decomposition Control - General Formulation
verfasst von : Wen-Hong Zhu
Erschienen in: Virtual Decomposition Control
Verlag: Springer Berlin Heidelberg
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In this section, the general formulation of the
virtual decomposition control
(VDC) approach will be presented, aimed at achieving a full-dynamics-based control on robots with hyper degrees of freedom. At the beginning, a complex robot is virtually “broken” into “pieces” (subsystems) and is represented by a simple oriented graph. Then, the subsystem dynamics based control is applied to make each subsystem qualified to be
virtually stable
, subject to certain geometric and force constraints. The
virtual stability
of every subsystem results in the stability and convergence of the entire robot, in which the concept of
virtual power flow
plays a vital role in representing the dynamic interactions among the subsystems.