01139nam0 22002891i 450 VAN001961920050228120000.088-464-0064-X20040713d1997 |0itac50 baitaIT|||| |||||ˆLa ‰psicologia italiana e il Novecentole prospettive emergenti nella prima metà del secoloGiovanni Pietro Lombardo, Renato FoschiMilanoFranco Angeli[1997]337 p.22 cm.PsicologiaItalia1900-1945VANC009641FIMilanoVANL000284150.94521LombardoGiovanni PietroVANV013862155496FoschiRenatoVANV015782157469FrancoAngeli <editore>VANV107955650ITSOL20240209RICABIBLIOTECA DEL DIPARTIMENTO DI PSICOLOGIAIT-CE0119VAN16VAN0019619BIBLIOTECA DEL DIPARTIMENTO DI PSICOLOGIA16CONS 2423 16LET6882 20040713 Psicologia italiana e il Novecento1427720UNICAMPANIA04072nam 2200541 450 991082406380332120231220013222.01-119-38142-81-119-38143-61-119-38144-4(CKB)4100000000641145(Au-PeEL)EBL5043193(CaPaEBR)ebr11438570(CaONFJC)MIL1036936(CaSebORM)9781119381235(MiAaPQ)EBC5043193(OCoLC)984512183(EXLCZ)99410000000064114520171013h20182018 uy 0engurcnu||||||||rdacontentrdamediardacarrierRobot manipulator redundancy resolution /Yunong Zhang, Long Jin, Sun Yatsen University1st editionHoboken, New Jersey :Wiley,2018.©20181 online resource (407 pages)1-119-38123-1 Includes bibliographical references and index.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 ...RobotsControl systemsManipulators (Mechanism)Redundancy (Engineering)RobotsControl systems.Manipulators (Mechanism)Redundancy (Engineering)629.8/933Zhang Yunong1973-886029Jin Long1988-MiAaPQMiAaPQMiAaPQBOOK9910824063803321Robot manipulator redundancy resolution3987065UNINA