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Virtual Decomposition Control - A Two DOF Example

  • Wen-Hong Zhu
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 60)

Abstract

In this chapter, the virtual decomposition control (VDC) approach is being presented with respect to a simple robot having two degrees of freedom (DOFs) in free motion. The purpose of this chapter is to give readers an intuitive impression and a detailed understanding on how this approach works.

Keywords

Control Equation Rigid Link Virtual Power Forward Dynamic Subsystem Dynamic 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2010

Authors and Affiliations

  • Wen-Hong Zhu

    There are no affiliations available

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