Repetitive Motion Planning and Control of Redundant Robot Manipulators

• Main Authors: Zhang, Yunong. (Author), Zhang, Zhijun. (Author)
• Corporate Author: SpringerLink (Online service)
• Format: Electronic
• Language: English
• Published: Berlin, Heidelberg : Springer Berlin Heidelberg : Imprint: Springer, 2013.
• Subjects: Engineering.; Artificial intelligence.; Computer simulation.; Numerical analysis.; Robotics and Automation.; Artificial Intelligence (incl. Robotics).; Numerical Analysis.; Simulation and Modeling.
• Online Access: https://ezaccess.library.uitm.edu.my/login?url=http://dx.doi.org/10.1007/978-3-642-37518-7

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 o...

Table of Contents:

• Fundamentals
• Part I Schemes
• Robotic RMP Schemes and QP Formulations
• Proofs of Repetitive Motion Performance Index
• Part II QP Solvers
• Dual Neural Network
• Primal-Dual Neural Networks
• Numerical Algorithm 94LVI
• Numerical Algorithm E47
• Part III Robot Simulations and Experiments
• Examples of Planar Multi-Link Manipulators
• PUMA560 Examples
• PA10 Examples
• Physical Robot Manipulator Experiments
• Part IV Appendices.