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.
Optimal Kinematic Design of Redundant and Hyper-redundant Manipulators for Constrained Workspaces
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.
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.
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.
Autonomous Robots
Autonomous Robots - 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 Autonomous Robots write by Farbod Fahimi. This book was released on 2008-10-25. Autonomous Robots available in PDF, EPUB and Kindle. It is at least two decades since the conventional robotic manipulators have become a common manufacturing tool for different industries, from automotive to pharmaceutical. The proven benefits of utilizing robotic manipulators for manufacturing in different industries motivated scientists and researchers to try to extend the applications of robots to many other areas by inventing several new types of robots other than conventional manipulators. The new types of robots can be categorized in two groups; redundant (and hyper-redundant) manipulators, and mobile (ground, marine, and aerial) robots. These groups of robots, known as advanced robots, have more freedom for their mobility, which allows them to do tasks that the conventional manipulators cannot do. Engineers have taken advantage of the extra mobility of the advanced robots to make them work in constrained environments, ranging from limited joint motions for redundant (or hyper-redundant) manipulators to obstacles in the way of mobile (ground, marine, and aerial) robots. Since these constraints usually depend on the work environment, they are variable. Engineers have had to invent methods to allow the robots to deal with a variety of constraints automatically. A robot that is equipped with those methods is called an Autonomous Robot. Autonomous Robots: Kinematics, Path Planning, and Control covers the kinematics and dynamic modeling/analysis of Autonomous Robots, as well as the methods suitable for their control. The text is suitable for mechanical and electrical engineers who want to familiarize themselves with methods of modeling/analysis/control that have been proven efficient through research.
