04072nam 2200541 450 991027093670332120200520144314.01-119-38142-81-119-38143-61-119-38144-4(CKB)4100000000641145(Au-PeEL)EBL5043193(CaPaEBR)ebr11438570(CaONFJC)MIL1036936(OCoLC)984512183(CaSebORM)9781119381235(MiAaPQ)EBC5043193(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-MiAaPQMiAaPQMiAaPQBOOK9910270936703321Robot manipulator redundancy resolution1978385UNINA03858nam 22006614a 450 991077769600332120230617010618.00-292-79882-210.7560/702097(CKB)1000000000453887(OCoLC)191818313(CaPaEBR)ebrary10194814(SSID)ssj0000208504(PQKBManifestationID)11168790(PQKBTitleCode)TC0000208504(PQKBWorkID)10239745(PQKB)10566810(MiAaPQ)EBC3443136(MdBmJHUP)muse2085(Au-PeEL)EBL3443136(CaPaEBR)ebr10194814(DE-B1597)586811(DE-B1597)9780292798823(MiAaPQ)EBC30788041(Au-PeEL)EBL30788041(EXLCZ)99100000000045388720030403d2004 ub 0engurcn|||||||||txtccrNative North American armor, shields, and fortifications[electronic resource] /by David E. Jones1st ed.Austin University of Texas Pressc20041 online resource (207 p.) Bibliographic Level Mode of Issuance: Monograph0-292-70209-4 Includes bibliographical references (p. 165-182) and index.Frontmatter -- Contents -- Acknowledgments -- Introduction -- 1. People of the Rivers -- 2. Standing Fights and Poison Arrows -- 3. The Horse Warriors -- 4. The Castle Builders -- 5. The Importance of Influential Neighbors -- 6. Warriors with Glittering Shields -- 7. Land of the Cold Snow Forests -- 8. The Salmon Kings -- 9. The Strongbows -- 10. Home of the North Wind -- Conclusion -- Bibliography -- IndexFrom the Chickasaw fighting the Choctaw in the Southeast to the Sioux battling the Cheyenne on the Great Plains, warfare was endemic among the North American Indians when Europeans first arrived on this continent. An impressive array of offensive weaponry and battle tactics gave rise to an equally impressive range of defensive technology. Native Americans constructed very effective armor and shields using wood, bone, and leather. Their fortifications ranged from simple refuges to walled and moated stockades to multiple stockades linked in strategic defensive networks. In this book, David E. Jones offers the first systematic comparative study of the defensive armor and fortifications of aboriginal Native Americans. Drawing data from ethnohistorical accounts and archaeological evidence, he surveys the use of armor, shields, and fortifications both before European contact and during the historic period by American Indians from the Southeast to the Northwest Coast, from the Northeast Woodlands to the desert Southwest, and from the Sub-Arctic to the Great Plains. Jones also demonstrates the sociocultural factors that affected warfare and shaped the development of different types of armor and fortifications. Extensive eyewitness descriptions of warfare, armor, and fortifications, as well as photos and sketches of Indian armor from museum collections, add a visual dimension to the text.Indians of North AmericaWarfareIndian weaponsNorth AmericaIndian armorNorth AmericaFortificationNorth AmericaIndians of North AmericaWarfare.Indian weaponsIndian armorFortification623.4/41Jones David E.1942-196542MiAaPQMiAaPQMiAaPQBOOK9910777696003321Native North American armor, shields, and fortifications3765422UNINA