Optimal Kinematic Design of Redundant and Hyper-redundant Manipulators for Constrained Workspaces - 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 Optimal Kinematic Design of Redundant and Hyper-redundant Manipulators for Constrained Workspaces write by Joseph T. Wunderlich. This book was released on 1996. Optimal Kinematic Design of Redundant and Hyper-redundant Manipulators for Constrained Workspaces available in PDF, EPUB and Kindle.
Trajectory Planning for Hyper-Redundant Manipulators in Constrained Workspaces
Trajectory Planning for Hyper-Redundant Manipulators in Constrained Workspaces - 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 Trajectory Planning for Hyper-Redundant Manipulators in Constrained Workspaces write by Mahdi Fallahinejad Ghajari. This book was released on 2015. Trajectory Planning for Hyper-Redundant Manipulators in Constrained Workspaces available in PDF, EPUB and Kindle.
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.
Dynamics and Control of Discrete Hyper-redundant Manipulators
Dynamics and Control of Discrete Hyper-redundant 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 Dynamics and Control of Discrete Hyper-redundant Manipulators write by Darius John Foster. This book was released on 2011. Dynamics and Control of Discrete Hyper-redundant Manipulators available in PDF, EPUB and Kindle. Robotic manipulators have for years been used in place of humans where tasks are too dangerous, arduous or repetitive. Thanks to their extra degrees-of-freedom hyper- redundant manipulators offer an increased ability to move within physically constrained spaces; useful for inspection and maintenance operations in hard-to- access environments. However, being comprised of many links joined end-to-end, they usually exhibit complex behaviour, and as a result are difficult to model and implement in the real-world. Indeed, very few examples have been successfully deployed. This thesis considers the kinematics, dynamics, and control of these hyper- redundant manipulators. A form of inverse kinematics based on a Bezier curve was developed. The method reduced the complexity of the problem and removed the need to use Jacobian matrices. It compared well to other inverse kinematics methods, and also proved to be implementable on a real-world test-rig. The standard approach to controlling hyper-redundant manipulators imposes constraints on the mechanical design of hyper-redundant manipulators. Proportional- integral-derivative control necessitates the use of highly geared joints, and usually exacerbate problems with backlash. This thesis investigated the application of nonlinear controllers to hyper-redundant manipulators. Sliding mode control was shown to be superior, particularly in response to gravitational loads. Chattering was successfully suppressed via incorporation of a modified error-dependent switching gain - the control effort was reduced by 95%. These ideas were validated in preliminary tests on a real-world test-rig.
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.
