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By Yunong Zhang and Long Jin
Wiley - ASME Press Book Series
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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 pseudo inversion, 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.
Table of Contents
PART I PSEUDO INVERSE-BASED ZD APPROACH
1 Redundancy Resolution via Pseudoinverse and ZD Models 3
PART II INVERSE FREE: SIMPLE APPROACH
2 G1 Type Scheme to JVL Inverse Kinematics 19
3 D1G1 Type Scheme to JAL Inverse Kinematics 33
4 Z1G1 Type Scheme to JAL Inverse Kinematics 45
PART III QP APPROACH AND UNIFICATION
5 Redundancy Resolution via QP Approach and Unification 59
PART IV ILLUSTRATIVE JVL QP SCHEMES AND PERFORMANCES
6 Varying Joint Velocity Limits Handled by QP 83
7 Feedback-Aided Minimum Joint Motion 111
8 QP Based Manipulator State Adjustment 139
PART V SELF-MOTION PLANNING
9 QP Based Self-Motion Planning 161
10 Pseudo-inverse Method and Singularities Discussed 185
11 Self-Motion Planning with ZIV Constraint 209
PART VI MANIPULABILITY MAXIMIZATION
12 Manipulability Maximizing SMP Scheme 229
PART VII ENCODER FEEDBACK AND JOYSTICK CONTROL
14 QP Based Encoder Feedback Control 261
15 QP Based Joystick Control 285
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