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.
General
Is the information for this product incomplete, wrong or inappropriate?
Let us know about it.
Does this product have an incorrect or missing image?
Send us a new image.
Is this product missing categories?
Add more categories.
Review This Product
No reviews yet - be the first to create one!
Welcome to Loot.co.za!
Sign in / Register |Wishlists & Gift Vouchers |Help | Advanced search
