"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.
"
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