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Robot manipulator redundancy resolution /
Written for those studying in the developing fields of robotics, numerical algorithms, and neural networks, this book introduces a revolutionary, quadratic-programming based approach to solving long-standing problems in motion planning and control of redundant manipulators. --
| Clasificación: | Libro Electrónico |
|---|---|
| Autores principales: | , |
| Formato: | Electrónico eBook |
| Idioma: | Inglés |
| Publicado: |
Hoboken, NJ :
John Wiley & Sons, Inc.,
[2018]
|
| Temas: | |
| Acceso en línea: | Texto completo (Requiere registro previo con correo institucional) |
MARC
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| 100 | 1 | |a Zhang, Yunong, |d 1973- |e author. | |
| 245 | 1 | 0 | |a Robot manipulator redundancy resolution / |c Yunong Zhang and Long Jin, Sun Yat-sen University, Guangzhou, China. |
| 264 | 1 | |a Hoboken, NJ : |b John Wiley & Sons, Inc., |c [2018] | |
| 300 | |a 1 online resource | ||
| 336 | |a text |b txt |2 rdacontent | ||
| 337 | |a computer |b c |2 rdamedia | ||
| 338 | |a online resource |b cr |2 rdacarrier | ||
| 504 | |a Includes bibliographical references and index. | ||
| 505 | 0 | |a Title Page; Copyright; 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. | |
| 505 | 8 | |a 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. | |
| 505 | 8 | |a 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. | |
| 505 | 8 | |a 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. | |
| 505 | 8 | |a 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. | |
| 588 | 0 | |a Online resource; title from digital title page (viewed on November 15, 2017). | |
| 520 | |a Written for those studying in the developing fields of robotics, numerical algorithms, and neural networks, this book introduces a revolutionary, quadratic-programming based approach to solving long-standing problems in motion planning and control of redundant manipulators. -- |c Edited summary from book. | ||
| 590 | |a O'Reilly |b O'Reilly Online Learning: Academic/Public Library Edition | ||
| 650 | 0 | |a Robots |x Control systems. | |
| 650 | 0 | |a Manipulators (Mechanism) | |
| 650 | 0 | |a Redundancy (Engineering) | |
| 650 | 6 | |a Robots |x Systèmes de commande. | |
| 650 | 6 | |a Manipulateurs (Mécanismes) | |
| 650 | 6 | |a Redondance (Ingénierie) | |
| 650 | 7 | |a TECHNOLOGY & ENGINEERING |x Engineering (General) |2 bisacsh | |
| 650 | 7 | |a Manipulators (Mechanism) |2 fast |0 (OCoLC)fst01007742 | |
| 650 | 7 | |a Redundancy (Engineering) |2 fast |0 (OCoLC)fst01092313 | |
| 650 | 7 | |a Robots |x Control systems. |2 fast |0 (OCoLC)fst01099044 | |
| 700 | 1 | |a Jin, Long, |d 1988- |e author. | |
| 776 | 0 | 8 | |i Print version: |a Zhang, Yunong, 1973- |t Robot manipulator redundancy resolution. |d Hoboken, New Jersey : Wiley, [2017] |z 9781119381235 |w (DLC) 2017018502 |
| 856 | 4 | 0 | |u https://learning.oreilly.com/library/view/~/9781119381235/?ar |z Texto completo (Requiere registro previo con correo institucional) |
| 938 | |a ProQuest Ebook Central |b EBLB |n EBL5043193 | ||
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| 938 | |a ProQuest MyiLibrary Digital eBook Collection |b IDEB |n cis38082145 | ||
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| 938 | |a YBP Library Services |b YANK |n 14788736 | ||
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