Virtual decomposition control. Toward hyper degrees of freedom robots. (Q2268693)

The main contribution of this monograph is to describe the theory of \textit{Virtual Decomposition Control} (VDC) to be applied to \textit{dynamics and control of complex robotic systems}. This book discusses for the first time about \textit{subsystem-based control of robots} without compromising control performances, the proposed VDC approach using subsystems dynamics to conduct control computation while rigorously guaranteeing the stability of the entire robot without imposing additional approximations. The dynamics interactions among subsystems are mathematically supported by the definition of \textit{virtual power flows}, the VDC approach providing the unique property that the sum of all virtual power flows should be zero at the end. This monograph comprises two parts with \textit{fourteen} chapters. Part I (VDC theory) presents in the first four chapters all the theoretical contents needed to conduct the VDC for any complex robot. In brief outlines, Chapter 1 (\textit{Introduction}) gives the background that motivates the creation of the new VDC approach. Chapter 2 (\textit{Mathematical Preliminaries}) collects the mathematical foundations to be used later on by the VDC. The most important concept of the \textit{virtual stability} is introduced, with the unique feature enclosing the \textit{virtual power flows} in the time derivative of the non-negative accompanying functions assigned to catch subsystem. The importance of the \textit{virtual stability} comes from the fact that (\(L_2\) and \(L_\infty\)) stability of the entire complex robot can be guaranteed as long as \textit{every} subsystem combined with its respective control equations qualifies to be \textit{virtually stable}. Chapter 3 (\textit{VDC -- A Two Degrees-Of-Freedom Example}) demonstrates how VDC works on a two degrees-of-freedom planar robot, while Chapter 4 (\textit{VDC -- General Formulation}) gives a VDC general formulation when applied on a generalized complex robot. This chapter ends with the discussions on VDC formulation and the relationship to the passivity theory and to PID (\textit{Proportional, Integral, and Derivative}) control. Part II (VDC Applications), with the chapters 5--14, is devoted to specific applications. Chapter 5 (\textit{Control of Electrically Driven Robots}) must be read since it applies the VDC to a class of the most popular six-joint robot manipulators in both free and constrained motion. Three joint control modes, suitable to different electronic control interfaces are described. Starting with Chapter 6, each chapter becomes independent, devoted to specialized applications and robot classes. Chapter 6 (\textit{Control of Motor / Transmission Assemblies}) presents the use of rigid body dynamics to model actuator assemblies, along with control equations and corresponding parameter adaptation. Chapter 7 (\textit{Control of Hydraulic Robots}) shows how VDC approach allows a hydraulic cylinder / motor or hydraulic assembly to be controlled independently from the rest of the robot, provided that the virtual stability holds. In Chapter 8 (\textit{Control of Coordinated Multiple Robot Manipulators}), the VDC approach is used to virtually decompose a coordinated multiple-manipulator system into the held object and several individual manipulators. Chapter 9 (\textit{Control of Space Robots}) applies VDC to handle the adaptive control problem of \textit{orbital space robots}. Chapter 10 (\textit{Control of Humanoid Robots}) shows how VDC approach fully explores the dynamic potentials of humanoid robots by incorporating a subsystem dynamics-based adaptive control that is mathematically equivalent to any full-dynamic-based control. Chapter 11 (\textit{Control of Force-Reflected Bilateral Teleoperation}) proposes an alternative solution, based on adaptive control, to automatically accommodate the systems uncertainties, leading to superior operational performances. Chapter 12 (Control of Modular Robot Manipulators) applies the modularity of VDC to the modular robot manipulators, aiming to give the modular robot manipulators the same dynamics-based control performances as those for integrated robot manipulators. Chapter 13 (Control of Flexible Link Robots) extends VDC to distributed parameter systems, while the final Chapter 14 (Applications to Electrical Circuits) discusses for the first time how VDC should be applied to a current control problem of electrical circuits, making use of the duality between mechanical and electrical systems. In sum, a very interesting monograph introducing the new theory of Virtual Decomposition Control (VDC), and applying it fruitfully to the control of various types of robots.