Repetitive Motion Planning and Control of Redundant Robot Manipulators
Zhang, Yunong, Zhang, Zhijun
2013, XVII, 196 p. 99 illus.
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Reviews recent work on quadratic program based repetitive motion planning methods for redundant robot manipulators
Provides different optimization schemes and simulations, neural network design and application
Includes theory analysis, computer simulations, physical experiments in robotics
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 Level »Research
Keywords »Numerical Methods - Quadratic Program (QP) - RMP Scheme - Recurrent Neural Network - Repetitive Motion Planning and Control - Robot Manipulator