LEADER 04072nam 2200541 450 001 9910270936703321 005 20200520144314.0 010 $a1-119-38142-8 010 $a1-119-38143-6 010 $a1-119-38144-4 035 $a(CKB)4100000000641145 035 $a(Au-PeEL)EBL5043193 035 $a(CaPaEBR)ebr11438570 035 $a(CaONFJC)MIL1036936 035 $a(OCoLC)984512183 035 $a(CaSebORM)9781119381235 035 $a(MiAaPQ)EBC5043193 035 $a(EXLCZ)994100000000641145 100 $a20171013h20182018 uy 0 101 0 $aeng 135 $aurcnu|||||||| 181 $2rdacontent 182 $2rdamedia 183 $2rdacarrier 200 10$aRobot manipulator redundancy resolution /$fYunong Zhang, Long Jin, Sun Yatsen University 205 $a1st edition 210 1$aHoboken, New Jersey :$cWiley,$d2018. 210 4$dİ2018 215 $a1 online resource (407 pages) 311 $a1-119-38123-1 320 $aIncludes bibliographical references and index. 330 $aIntroduces 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 ... 606 $aRobots$xControl systems 606 $aManipulators (Mechanism) 606 $aRedundancy (Engineering) 615 0$aRobots$xControl systems. 615 0$aManipulators (Mechanism) 615 0$aRedundancy (Engineering) 676 $a629.8/933 700 $aZhang$b Yunong$f1973-$0886029 702 $aJin$b Long$f1988- 801 0$bMiAaPQ 801 1$bMiAaPQ 801 2$bMiAaPQ 906 $aBOOK 912 $a9910270936703321 996 $aRobot manipulator redundancy resolution$91978385 997 $aUNINA