Overview
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
Includes supplementary material: sn.pub/extras
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Table of contents (11 chapters)
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Front Matter
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Schemes
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Front Matter
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QP Solvers
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Front Matter
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Robot Simulations and Experiments
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Front Matter
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Back Matter
Keywords
About this book
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.
Reviews
From the reviews:
“The book is primarily a collection of the first author’s work, from a decade of projects focused on developing motion planning schemata for redundant robots. … Each of the 11 chapters includes a reference list, and there are four appendices and a glossary. … The book is a typical research book, convenient for researchers, those in industry, and graduate students in automation, since it presents a comprehensive view of an approach to solving the RMP problem.” (G. Gini, Computing Reviews, October, 2013)Authors and Affiliations
Bibliographic Information
Book Title: Repetitive Motion Planning and Control of Redundant Robot Manipulators
Authors: Yunong Zhang, Zhijun Zhang
DOI: https://doi.org/10.1007/978-3-642-37518-7
Publisher: Springer Berlin, Heidelberg
eBook Packages: Engineering, Engineering (R0)
Copyright Information: Springer-Verlag Berlin Heidelberg 2013
Hardcover ISBN: 978-3-642-37517-0Published: 24 May 2013
Softcover ISBN: 978-3-642-44492-0Published: 23 June 2015
eBook ISBN: 978-3-642-37518-7Published: 08 July 2014
Edition Number: 1
Number of Pages: XVII, 196
Topics: Robotics and Automation, Artificial Intelligence, Numerical Analysis, Simulation and Modeling