Repetitive Motion Planning and Control of Redundant Robot Manipulators

Authors: Zhang, Yunong, Zhang, Zhijun

  • 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
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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)

Table of contents (11 chapters)

  • Fundamentals

    Zhang, Yunong (et al.)

    Pages 1-13

  • Robotic RMP Schemes and QP Formulations

    Zhang, Yunong (et al.)

    Pages 17-25

  • Proofs of Repetitive Motion Performance Index

    Zhang, Yunong (et al.)

    Pages 27-30

  • Dual Neural Network

    Zhang, Yunong (et al.)

    Pages 33-56

  • Primal–Dual Neural Networks

    Zhang, Yunong (et al.)

    Pages 57-81

Buy this book

eBook $119.00
price for USA (gross)
  • ISBN 978-3-642-37518-7
  • Digitally watermarked, DRM-free
  • Included format: PDF, EPUB
  • ebooks can be used on all reading devices
  • Immediate eBook download after purchase
Hardcover $159.00
price for USA
  • ISBN 978-3-642-37517-0
  • Free shipping for individuals worldwide
  • Usually dispatched within 3 to 5 business days.
Softcover $159.00
price for USA
  • ISBN 978-3-642-44492-0
  • Free shipping for individuals worldwide
  • Usually dispatched within 3 to 5 business days.
Rent the ebook  
  • Rental duration: 1 or 6 month
  • low-cost access
  • online reader with highlighting and note-making option
  • can be used across all devices
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Bibliographic Information

Bibliographic Information
Book Title
Repetitive Motion Planning and Control of Redundant Robot Manipulators
Authors
Copyright
2013
Publisher
Springer-Verlag Berlin Heidelberg
Copyright Holder
Springer-Verlag Berlin Heidelberg
eBook ISBN
978-3-642-37518-7
DOI
10.1007/978-3-642-37518-7
Hardcover ISBN
978-3-642-37517-0
Softcover ISBN
978-3-642-44492-0
Edition Number
1
Number of Pages
XVII, 196
Topics