[robotics-worldwide] ICRA Tutorial - Virtual Decomposition Control

WenHong.Zhu at asc-csa.gc.ca WenHong.Zhu at asc-csa.gc.ca
Mon Jan 31 13:51:34 PST 2011

Dear Colleagues:


If you are working in the area of precision control of complex robots (6 - 30 DOF), you are welcome to a tutorial entitled Virtual Decomposition Control  (VDC) scheduled at ICRA 2011 in Shanghai, see the following web link:




The VDC provides an effective solution to the long-term thorny problem of precision control of complex robots with hyper degrees of freedom. The concept of VDC departs from the conventional way of thinking. It uses subsystem (links and joints)  dynamics to perform control computation and guarantees the stability of the entire robot for both computational efficiency and control precision. The definition of virtual stability allows us to convert the stability of the entire robot to the virtual stability of every subsystem with mathematical certainty. The VDC approach has been thoroughly tested on real-world robots in the past 14 years. Its theoretical advantages result in unprecedented control precision.   


Though being published by Springer in its STAR series, the VDC still distinguishes itself from an easy subject. A  tutorial will provide a unique opportunity for a quick access to this effective approach, particularly for graduate students.


Welcome to this tutorial!



Wen-Hong Zhu
Space Exploration | Exploration spatiale
Canadian Space Agency | Agence spatiale canadienne 
6767, Route de l'Aéroport , Longueuil (St-Hubert), QC, Canada, J3Y 8Y9
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