Control of Redundant Robot Manipulators - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Control of Redundant Robot Manipulators write by Rajni V. Patel. This book was released on 2005-05-04. Control of Redundant Robot Manipulators available in PDF, EPUB and Kindle. This monograph provides a comprehensive and thorough treatment of the problem of controlling a redundant robot manipulator. It presents the latest research from the field with a good balance between theory and practice. All theoretical developments are verified both via simulation and experimental work on an actual prototype redundant robot manipulator. This book is the first text aimed at graduate students and researchers working in the area of redundant manipulators giving a comprehensive coverage of control of redundant robot manipulators from the viewpoint of theory and experimentation.
Repetitive Motion Planning and Control of Redundant Robot Manipulators
Repetitive Motion Planning and Control of Redundant Robot Manipulators - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Repetitive Motion Planning and Control of Redundant Robot Manipulators write by Yunong Zhang. This book was released on 2014-07-08. Repetitive Motion Planning and Control of Redundant Robot Manipulators available in PDF, EPUB and Kindle. 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.
Robot Manipulator Redundancy Resolution
Robot Manipulator Redundancy Resolution - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Robot Manipulator Redundancy Resolution write by Yunong Zhang. This book was released on 2017-09-06. Robot Manipulator Redundancy Resolution available in PDF, EPUB and Kindle. Introduces 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 industrial researchers.
Kinematic Control of Redundant Robot Arms Using Neural Networks
Kinematic Control of Redundant Robot Arms Using Neural Networks - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Kinematic Control of Redundant Robot Arms Using Neural Networks write by Shuai Li. This book was released on 2019-04-29. Kinematic Control of Redundant Robot Arms Using Neural Networks available in PDF, EPUB and Kindle. Presents pioneering and comprehensive work on engaging movement in robotic arms, with a specific focus on neural networks This book presents and investigates different methods and schemes for the control of robotic arms whilst exploring the field from all angles. On a more specific level, it deals with the dynamic-neural-network based kinematic control of redundant robot arms by using theoretical tools and simulations. Kinematic Control of Redundant Robot Arms Using Neural Networks is divided into three parts: Neural Networks for Serial Robot Arm Control; Neural Networks for Parallel Robot Control; and Neural Networks for Cooperative Control. The book starts by covering zeroing neural networks for control, and follows up with chapters on adaptive dynamic programming neural networks for control; projection neural networks for robot arm control; and neural learning and control co-design for robot arm control. Next, it looks at robust neural controller design for robot arm control and teaches readers how to use neural networks to avoid robot singularity. It then instructs on neural network based Stewart platform control and neural network based learning and control co-design for Stewart platform control. The book finishes with a section on zeroing neural networks for robot arm motion generation. Provides comprehensive understanding on robot arm control aided with neural networks Presents neural network-based control techniques for single robot arms, parallel robot arms (Stewart platforms), and cooperative robot arms Provides a comparison of, and the advantages of, using neural networks for control purposes rather than traditional control based methods Includes simulation and modelling tasks (e.g., MATLAB) for onward application for research and engineering development By focusing on robot arm control aided by neural networks whilst examining central topics surrounding the field, Kinematic Control of Redundant Robot Arms Using Neural Networks is an excellent book for graduate students and academic and industrial researchers studying neural dynamics, neural networks, analog and digital circuits, mechatronics, and mechanical engineering.
The control of kinematically redundant robot manipulators
The control of kinematically redundant robot manipulators - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook The control of kinematically redundant robot manipulators write by Ian David Walker. This book was released on 1985. The control of kinematically redundant robot manipulators available in PDF, EPUB and Kindle.
