Ebook: Repetitive Motion Planning and Control of Redundant Robot Manipulators

Repetitive Motion Planning and Control of Redundant Robot Manipulators presents four typical motion planning schemes based on optimization techniques, including the fundamental RMP scheme and its extensions. These schemes are unified as quadratic programs (QPs), which are solved by neural networks or numerical algorithms. The RMP schemes are demonstrated effectively by the simulation results based on various robotic models; the experiments applying the fundamental RMP scheme to a physical robot manipulator are also presented. As the schemes and the corresponding solvers presented in the book have solved the non-repetitive motion problems existing in redundant robot manipulators, it is of particular use in applying theoretical research based on the quadratic program for redundant robot manipulators in industrial situations. This book will be a valuable reference work for engineers, researchers, advanced undergraduate and graduate students in robotics fields.

Yunong Zhang is a professor at The School of Information Science and Technology, Sun Yat-sen University, Guangzhou, China; Zhijun Zhang is a research fellow working at the same institute.

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Repetitive Motion Planning and Control of Redundant Robot Manipulators presents four typical motion planning schemes based on optimization techniques, including the fundamental RMP scheme and its extensions. These schemes are unified as quadratic programs (QPs), which are solved by neural networks or numerical algorithms. The RMP schemes are demonstrated effectively by the simulation results based on various robotic models; the experiments applying the fundamental RMP scheme to a physical robot manipulator are also presented. As the schemes and the corresponding solvers presented in the book have solved the non-repetitive motion problems existing in redundant robot manipulators, it is of particular use in applying theoretical research based on the quadratic program for redundant robot manipulators in industrial situations. This book will be a valuable reference work for engineers, researchers, advanced undergraduate and graduate students in robotics fields.

Yunong Zhang is a professor at The School of Information Science and Technology, Sun Yat-sen University, Guangzhou, China; Zhijun Zhang is a research fellow working at the same institute.

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Repetitive Motion Planning and Control of Redundant Robot Manipulators presents four typical motion planning schemes based on optimization techniques, including the fundamental RMP scheme and its extensions. These schemes are unified as quadratic programs (QPs), which are solved by neural networks or numerical algorithms. The RMP schemes are demonstrated effectively by the simulation results based on various robotic models; the experiments applying the fundamental RMP scheme to a physical robot manipulator are also presented. As the schemes and the corresponding solvers presented in the book have solved the non-repetitive motion problems existing in redundant robot manipulators, it is of particular use in applying theoretical research based on the quadratic program for redundant robot manipulators in industrial situations. This book will be a valuable reference work for engineers, researchers, advanced undergraduate and graduate students in robotics fields.

Yunong Zhang is a professor at The School of Information Science and Technology, Sun Yat-sen University, Guangzhou, China; Zhijun Zhang is a research fellow working at the same institute.

Content:
Front Matter....Pages I-XVII
Front Matter....Pages 15-15
Robotic RMP Schemes and QP Formulations....Pages 17-25
Proofs of Repetitive Motion Performance Index....Pages 27-30
Front Matter....Pages 31-31
Dual Neural Network....Pages 33-56
Primal–Dual Neural Networks....Pages 57-81
Numerical Algorithm 94LVI....Pages 83-93
Numerical Algorithm E47....Pages 95-105
Front Matter....Pages 107-107
Examples of Planar Multilink Manipulators....Pages 109-128
PUMA560 Examples....Pages 129-136
PA10 Examples....Pages 137-148
Physical Robot Manipulator Experiments....Pages 149-166
Fundamentals....Pages 1-13
Back Matter....Pages 167-196

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Repetitive Motion Planning and Control of Redundant Robot Manipulators presents four typical motion planning schemes based on optimization techniques, including the fundamental RMP scheme and its extensions. These schemes are unified as quadratic programs (QPs), which are solved by neural networks or numerical algorithms. The RMP schemes are demonstrated effectively by the simulation results based on various robotic models; the experiments applying the fundamental RMP scheme to a physical robot manipulator are also presented. As the schemes and the corresponding solvers presented in the book have solved the non-repetitive motion problems existing in redundant robot manipulators, it is of particular use in applying theoretical research based on the quadratic program for redundant robot manipulators in industrial situations. This book will be a valuable reference work for engineers, researchers, advanced undergraduate and graduate students in robotics fields.

Yunong Zhang is a professor at The School of Information Science and Technology, Sun Yat-sen University, Guangzhou, China; Zhijun Zhang is a research fellow working at the same institute.

Content:
Front Matter....Pages I-XVII
Front Matter....Pages 15-15
Robotic RMP Schemes and QP Formulations....Pages 17-25
Proofs of Repetitive Motion Performance Index....Pages 27-30
Front Matter....Pages 31-31
Dual Neural Network....Pages 33-56
Primal–Dual Neural Networks....Pages 57-81
Numerical Algorithm 94LVI....Pages 83-93
Numerical Algorithm E47....Pages 95-105
Front Matter....Pages 107-107
Examples of Planar Multilink Manipulators....Pages 109-128
PUMA560 Examples....Pages 129-136
PA10 Examples....Pages 137-148
Physical Robot Manipulator Experiments....Pages 149-166
Fundamentals....Pages 1-13
Back Matter....Pages 167-196
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