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Robot Manipulator Redundancy Resolution (Wiley-ASME Press Series)

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Description:In recent times, robotics has attracted considerable attention in scientific researches and engineering applications. Much effort has been contributed to robotics and different types of robots have thus been developed and investigated. Among these robots, redundant robot manipulators have played an important role in numerous fields of engineering applications in industrial automation for performing repetitive dull work, such as welding, painting and assembly. For a redundant robot manipulator, it possesses more degrees-of-freedom (DOF) than the minimum number of DOF required to perform a given end-effector primary task. Being one important issue in operating such robotic systems, the redundancy resolution has been widely studied, which is related to the motion planning and control of redundant manipulators. The book presents and investigates different methods and schemes for the motion planning and control of redundant robot manipulators.The text mentions some fundamental techniques for such unification and then specifies it in detail based on quadratic programming (QP) and its online solutions. Such a QP formulation is general as it incorporates equality, inequality and bound constraints, simultaneously. This QP formulation covers the online avoidance of joint physical limits and environmental obstacles, as well as the optimization of various performance indices. Every term is endowed with clear physical meaning and utility. Computer-simulation results based on various robotic models demonstrate the effectiveness of the presented methods and schemes. For substantiating the physical realizability, some of these methods and schemes are applied to an actual six-DOF planar robot manipulator.The book is a self-contained, detailed, updated, clear and coherent account on the subject.We have made it easy for you to find a PDF Ebooks without any digging. And by having access to our ebooks online or by storing it on your computer, you have convenient answers with Robot Manipulator Redundancy Resolution (Wiley-ASME Press Series). To get started finding Robot Manipulator Redundancy Resolution (Wiley-ASME Press Series), you are right to find our website which has a comprehensive collection of manuals listed.
Our library is the biggest of these that have literally hundreds of thousands of different products represented.

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ISBN: 1119381231

Description: In recent times, robotics has attracted considerable attention in scientific researches and engineering applications. Much effort has been contributed to robotics and different types of robots have thus been developed and investigated. Among these robots, redundant robot manipulators have played an important role in numerous fields of engineering applications in industrial automation for performing repetitive dull work, such as welding, painting and assembly. For a redundant robot manipulator, it possesses more degrees-of-freedom (DOF) than the minimum number of DOF required to perform a given end-effector primary task. Being one important issue in operating such robotic systems, the redundancy resolution has been widely studied, which is related to the motion planning and control of redundant manipulators. The book presents and investigates different methods and schemes for the motion planning and control of redundant robot manipulators.The text mentions some fundamental techniques for such unification and then specifies it in detail based on quadratic programming (QP) and its online solutions. Such a QP formulation is general as it incorporates equality, inequality and bound constraints, simultaneously. This QP formulation covers the online avoidance of joint physical limits and environmental obstacles, as well as the optimization of various performance indices. Every term is endowed with clear physical meaning and utility. Computer-simulation results based on various robotic models demonstrate the effectiveness of the presented methods and schemes. For substantiating the physical realizability, some of these methods and schemes are applied to an actual six-DOF planar robot manipulator.The book is a self-contained, detailed, updated, clear and coherent account on the subject.We have made it easy for you to find a PDF Ebooks without any digging. And by having access to our ebooks online or by storing it on your computer, you have convenient answers with Robot Manipulator Redundancy Resolution (Wiley-ASME Press Series). To get started finding Robot Manipulator Redundancy Resolution (Wiley-ASME Press Series), you are right to find our website which has a comprehensive collection of manuals listed.
Our library is the biggest of these that have literally hundreds of thousands of different products represented.

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Robot Manipulator Redundancy Resolution (Wiley-ASME Press Series)

Robot Manipulator Redundancy Resolution (Wiley-ASME Press Series)

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