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Control of Motor/Transmission Assemblies

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

Abstract

The results in the previous chapters reveal that the dynamics of rigid bodies and the dynamics of joints are needed to conduct the virtual decomposition control (VDC) design. Consider the fact that a joint motor/transmission assembly consists of merely rigid bodies. A natural question is, therefore, raised about the possibility of replacing the joint dynamics by rigid body dynamics.

Keywords

Rigid Body Joint Torque Friction Torque Output Shaft Fast Subsystem 
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

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