Virtual Decomposition Control - A Two DOF Example

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


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.


Control Equation Rigid Link Virtual Power Forward Dynamic Subsystem Dynamic 
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© Springer-Verlag Berlin Heidelberg 2010

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  • Wen-Hong Zhu

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