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Hoboken, New Jersey : Wiley, [2017]

1 online zdroj

ISBN 9781119381433 (e-kniha)

ISBN 9781119381440 (e-kniha)

ISBN 9781119381426

ISBN 9781119381235 (vázáno)

Tištěné vydání: Zhang, Yunong, 1973-. Robot manipulator redundancy resolution Hoboken, New Jersey : Wiley, [2017] ISBN 9781119381235

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Description based on print version record and CIP data provided by publisher // resource not viewed

* Manipulators (Mechanism) * Redundancy (Engineering)

001479574

Dedication // Table of Contents // List of Figures // List of Tables // Preface // Acknowledgments // Acronyms // Part I: Pseudoinverse-Based ZD Approach // Chapter 1: Redundancy Resolution via Pseudoinverse and ZD Models // 1.1 Introduction // 1.2 Problem Formulation and ZD Models // 1.3 ZD Applications to Different-Type Robot Manipulators // 1.4 Chapter Summary // Part II: Inverse-Free Simple Approach // Chapter 2: G1 Type Scheme to JVL Inverse Kinematics // 2.1 Introduction // 2.2 Preliminaries and Related Work // 2.3 Scheme Formulation // 2.4 Computer Simulations // 2.5 Physical Experiments // 2.6 Chapter SummaryChapter 3: D1G1 Type Scheme to JAL Inverse Kinematics // 3.1 Introduction // 3.2 Preliminaries and Related Work // 3.3 Scheme Formulation // 3.4 Computer Simulations // 3.5 Chapter Summary // Chapter 4: Z1G1 Type Scheme to JAL Inverse Kinematics // 4.1 Introduction // 4.2 Problem Formulation and Z1G1 Type Scheme // 4.3 Computer Simulations // 4.4 Physical Experiments // 4.5 Chapter Summary // Part III: QP Approach and Unification // Chapter 5: Redundancy Resolution via QP Approach and Unification // 5.1 Introduction // 5.2 Robotic Formulation // 5.3 Handling Joint Physical Limits // 5.4 Avoiding Obstacles // 5.5 Various Performance Indices5.6 Unified QP Formulation // 5.7 Online QP Solutions // 5.8 Computer Simulations // 5.9 Chapter Summary // Part IV: Illustrative JVL QP Schemes and Performances // Chapter 6: Varying Joint-Velocity Limits Handled by QP // 6.1 Introduction // 6.2 Preliminaries and Problem Formulation // 6.3 94LVI Assisted QP Solution // 6.4 Computer Simulations and Physical Experiments // 6.5 Chapter Summary // Chapter 7: Feedback-Aided Minimum Joint Motion // 7.1 Introduction // 7.2 Preliminaries and Problem Formulation // 7.3 Computer Simulations and Physical Experiments // 7.4 Chapter Summary //

Chapter 8: QP Based Manipulator State Adjustment8.1 Introduction // 8.2 Preliminaries and Scheme Formulation // 8.3 QP Solution and Control of Robot Manipulator // 8.4 Computer Simulations and Comparisons // 8.5 Physical Experiments // 8.6 Chapter Summary // Part V: Self-Motion Planning // Chapter 9: QP-Based Self-Motion Planning // 9.1 Introduction // 9.2 Preliminaries and QP Formulation // 9.3 LVIAPDNN Assisted QP Solution // 9.4 PUMA560 Based Computer Simulations // 9.5 PA10 Based Computer Simulations // 9.6 Chapter Summary // Chapter 10: Pseudoinverse Method and Singularities Discussed // 10.1 Introduction // 10.2 Preliminaries and Scheme Formulation10.3 LVIAPDNN Assisted QP Solution with Discussion // 10.4 Computer Simulations // 10.5 Chapter Summary // Appendix // Chapter 11: Self-Motion Planning with ZIV Constraint // 11.1 Introduction // 11.2 Preliminaries and Scheme Formulation // 11.3 E47 Assisted QP Solution // 11.4 Computer Simulations and Physical Experiments // 11.5 Chapter Summary // Part VI: Manipulability Maximization // Chapter 12: Manipulability-Maximizing SMP Scheme // 12.1 Introduction // 12.2 Scheme Formulation // 12.3 Computer Simulations and Physical Experiments // 12.4 Chapter Summary

(OCoLC)984512183