Robot manipulator redundancy resolution

Robot manipulator redundancy resolution

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 ``Q...

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Detalles Bibliográficos
Otros Autores: Zhang, Yunong, author (author), Jin, Long, 1988- author
Formato: Libro electrónico
Idioma:Inglés
Publicado: Hoboken, New Jersey : Wiley 2018.
Edición:First edition
Materias:
Robots > Control systems.
Manipulators (Mechanism)
Redundancy (Engineering)
Ver en Biblioteca Universitat Ramon Llull:https://discovery.url.edu/permalink/34CSUC_URL/1im36ta/alma991009630648606719
Tabla de Contenidos:
  • Intro
  • Title Page
  • Copyright
  • Dedication
  • Table of Contents
  • List of Figures
  • List of Tables
  • Preface
  • Acknowledgments
  • Acronyms
  • Part I: Pseudoinverse-Based ZD Approach
  • Chapter 1: Redundancy Resolution via Pseudoinverse and ZD Models
  • 1.1 Introduction
  • 1.2 Problem Formulation and ZD Models
  • 1.3 ZD Applications to Different-Type Robot Manipulators
  • 1.4 Chapter Summary
  • Part II: Inverse-Free Simple Approach
  • Chapter 2: G1 Type Scheme to JVL Inverse Kinematics
  • 2.1 Introduction
  • 2.2 Preliminaries and Related Work
  • 2.3 Scheme Formulation
  • 2.4 Computer Simulations
  • 2.5 Physical Experiments
  • 2.6 Chapter Summary
  • Chapter 3: D1G1 Type Scheme to JAL Inverse Kinematics
  • 3.1 Introduction
  • 3.2 Preliminaries and Related Work
  • 3.3 Scheme Formulation
  • 3.4 Computer Simulations
  • 3.5 Chapter Summary
  • Chapter 4: Z1G1 Type Scheme to JAL Inverse Kinematics
  • 4.1 Introduction
  • 4.2 Problem Formulation and Z1G1 Type Scheme
  • 4.3 Computer Simulations
  • 4.4 Physical Experiments
  • 4.5 Chapter Summary
  • Part III: QP Approach and Unification
  • Chapter 5: Redundancy Resolution via QP Approach and Unification
  • 5.1 Introduction
  • 5.2 Robotic Formulation
  • 5.3 Handling Joint Physical Limits
  • 5.4 Avoiding Obstacles
  • 5.5 Various Performance Indices
  • 5.6 Unified QP Formulation
  • 5.7 Online QP Solutions
  • 5.8 Computer Simulations
  • 5.9 Chapter Summary
  • Part IV: Illustrative JVL QP Schemes and Performances
  • Chapter 6: Varying Joint-Velocity Limits Handled by QP
  • 6.1 Introduction
  • 6.2 Preliminaries and Problem Formulation
  • 6.3 94LVI Assisted QP Solution
  • 6.4 Computer Simulations and Physical Experiments
  • 6.5 Chapter Summary
  • Chapter 7: Feedback-Aided Minimum Joint Motion
  • 7.1 Introduction
  • 7.2 Preliminaries and Problem Formulation
  • 7.3 Computer Simulations and Physical Experiments.
  • 7.4 Chapter Summary
  • Chapter 8: QP Based Manipulator State Adjustment
  • 8.1 Introduction
  • 8.2 Preliminaries and Scheme Formulation
  • 8.3 QP Solution and Control of Robot Manipulator
  • 8.4 Computer Simulations and Comparisons
  • 8.5 Physical Experiments
  • 8.6 Chapter Summary
  • Part V: Self-Motion Planning
  • Chapter 9: QP-Based Self-Motion Planning
  • 9.1 Introduction
  • 9.2 Preliminaries and QP Formulation
  • 9.3 LVIAPDNN Assisted QP Solution
  • 9.4 PUMA560 Based Computer Simulations
  • 9.5 PA10 Based Computer Simulations
  • 9.6 Chapter Summary
  • Chapter 10: Pseudoinverse Method and Singularities Discussed
  • 10.1 Introduction
  • 10.2 Preliminaries and Scheme Formulation
  • 10.3 LVIAPDNN Assisted QP Solution with Discussion
  • 10.4 Computer Simulations
  • 10.5 Chapter Summary
  • Appendix
  • Chapter 11: Self-Motion Planning with ZIV Constraint
  • 11.1 Introduction
  • 11.2 Preliminaries and Scheme Formulation
  • 11.3 E47 Assisted QP Solution
  • 11.4 Computer Simulations and Physical Experiments
  • 11.5 Chapter Summary
  • Part VI: Manipulability Maximization
  • Chapter 12: Manipulability-Maximizing SMP Scheme
  • 12.1 Introduction
  • 12.2 Scheme Formulation
  • 12.3 Computer Simulations and Physical Experiments
  • 12.4 Chapter Summary
  • Chapter 13: Time-Varying Coefficient Aided MM Scheme
  • 13.1 Introduction
  • 13.2 Manipulability-Maximization with Time-Varying Coefficient
  • 13.3 Computer Simulations and Physical Experiments
  • 13.4 Chapter Summary
  • Part VII: Encoder Feedback and Joystick Control
  • Chapter 14: QP Based Encoder Feedback Control
  • 14.1 Introduction
  • 14.2 Preliminaries and Scheme Formulation
  • 14.3 Computer Simulations
  • 14.4 Physical Experiments
  • 14.5 Chapter Summary
  • Chapter 15: QP Based Joystick Control
  • 15.1 Introduction
  • 15.2 Preliminaries and Hardware System
  • 15.3 Scheme Formulation.
  • 15.4 Computer Simulations and Physical Experiments
  • 15.5 Chapter Summary
  • References
  • Index
  • End User License Agreement.

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