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.Stepper motors are employed in the other five joints, except for the first joint using a servo motor. According to the instructions, ... Scheme. Formulation. and. QP. Solver. Generally, the joint velocity IIc is first computed via the QP-based scheme anbsp;...
|Title||:||Repetitive Motion Planning and Control of Redundant Robot Manipulators|
|Author||:||Yunong Zhang, Zhijun Zhang|
|Publisher||:||Springer Science & Business Media - 2014-07-08|