Robot Manipulator Redundancy Resolution

Nonfiction, Computers, Advanced Computing, Engineering, Neural Networks, Science & Nature, Technology, Robotics
Cover of the book Robot Manipulator Redundancy Resolution by Yunong Zhang, Long Jin, Wiley
View on Amazon View on AbeBooks View on Kobo View on B.Depository View on eBay View on Walmart
Author: Yunong Zhang, Long Jin ISBN: 9781119381433
Publisher: Wiley Publication: September 6, 2017
Imprint: Wiley-ASME Press Series Language: English
Author: Yunong Zhang, Long Jin
ISBN: 9781119381433
Publisher: Wiley
Publication: September 6, 2017
Imprint: Wiley-ASME Press Series
Language: English

Introduces a revolutionary, quadratic-programming based approach to solving long-standing problems in motion planning and control of redundant manipulators

This book describes a novel quadratic programming approach to solving redundancy resolutions problems with redundant manipulators. Known as ``QP-unified motion planning and control of redundant manipulators'' theory, it systematically solves difficult optimization problems of inequality-constrained motion planning and control of redundant manipulators that have plagued robotics engineers and systems designers for more than a quarter century.

An example of redundancy resolution could involve a robotic limb with six joints, or degrees of freedom (DOFs), with which to position an object. As only five numbers are required to specify the position and orientation of the object, the robot can move with one remaining DOF through practically infinite poses while performing a specified task. In this case redundancy resolution refers to the process of choosing an optimal pose from among that infinite set. A critical issue in robotic systems control, the redundancy resolution problem has been widely studied for decades, and numerous solutions have been proposed. This book investigates various approaches to motion planning and control of redundant robot manipulators and describes the most successful strategy thus far developed for resolving redundancy resolution problems.

  • Provides a fully connected, systematic, methodological, consecutive, and easy approach to solving redundancy resolution problems
  • Describes a new approach to the time-varying Jacobian matrix pseudoinversion, applied to the redundant-manipulator kinematic control
  • Introduces The QP-based unification of robots' redundancy resolution
  • Illustrates the effectiveness of the methods presented using a large number of computer simulation results based on PUMA560, PA10, and planar robot manipulators
  • Provides technical details for all schemes and solvers presented, for readers to adopt and customize them for specific industrial applications

Robot Manipulator Redundancy Resolution is must-reading for advanced undergraduates and graduate students of robotics, mechatronics, mechanical engineering, tracking control, neural dynamics/neural networks, numerical algorithms, computation and optimization, simulation and modelling, analog, and digital circuits. It is also a valuable working resource for practicing robotics engineers and systems designers and industrial researchers.

View on Amazon View on AbeBooks View on Kobo View on B.Depository View on eBay View on Walmart

Introduces a revolutionary, quadratic-programming based approach to solving long-standing problems in motion planning and control of redundant manipulators

This book describes a novel quadratic programming approach to solving redundancy resolutions problems with redundant manipulators. Known as ``QP-unified motion planning and control of redundant manipulators'' theory, it systematically solves difficult optimization problems of inequality-constrained motion planning and control of redundant manipulators that have plagued robotics engineers and systems designers for more than a quarter century.

An example of redundancy resolution could involve a robotic limb with six joints, or degrees of freedom (DOFs), with which to position an object. As only five numbers are required to specify the position and orientation of the object, the robot can move with one remaining DOF through practically infinite poses while performing a specified task. In this case redundancy resolution refers to the process of choosing an optimal pose from among that infinite set. A critical issue in robotic systems control, the redundancy resolution problem has been widely studied for decades, and numerous solutions have been proposed. This book investigates various approaches to motion planning and control of redundant robot manipulators and describes the most successful strategy thus far developed for resolving redundancy resolution problems.

Robot Manipulator Redundancy Resolution is must-reading for advanced undergraduates and graduate students of robotics, mechatronics, mechanical engineering, tracking control, neural dynamics/neural networks, numerical algorithms, computation and optimization, simulation and modelling, analog, and digital circuits. It is also a valuable working resource for practicing robotics engineers and systems designers and industrial researchers.

More books from Wiley

Cover of the book 50 Ways to a Better You For Dummies, Mini Edition by Yunong Zhang, Long Jin
Cover of the book Sustainable Nation by Yunong Zhang, Long Jin
Cover of the book Introduction to Electrical Circuit Analysis by Yunong Zhang, Long Jin
Cover of the book Textbook of Diabetes by Yunong Zhang, Long Jin
Cover of the book The Value of Debt in Retirement by Yunong Zhang, Long Jin
Cover of the book Zizek and the Media by Yunong Zhang, Long Jin
Cover of the book The Complete Guide to Knowledge Management by Yunong Zhang, Long Jin
Cover of the book Fisheries Biology, Assessment and Management by Yunong Zhang, Long Jin
Cover of the book Environmental Organic Chemistry by Yunong Zhang, Long Jin
Cover of the book Linear Models by Yunong Zhang, Long Jin
Cover of the book Scrivener For Dummies by Yunong Zhang, Long Jin
Cover of the book Snow Flake by Yunong Zhang, Long Jin
Cover of the book Minecraft Construction For Dummies by Yunong Zhang, Long Jin
Cover of the book Recession, Recovery, and Renewal by Yunong Zhang, Long Jin
Cover of the book The Situational Judgement Test at a Glance by Yunong Zhang, Long Jin
We use our own "cookies" and third party cookies to improve services and to see statistical information. By using this website, you agree to our Privacy Policy