000 03350nam a22005415i 4500
001 978-3-642-37518-7
003 DE-He213
005 20200421111208.0
007 cr nn 008mamaa
008 130507s2013 gw | s |||| 0|eng d
020 _a9783642375187
_9978-3-642-37518-7
024 7 _a10.1007/978-3-642-37518-7
_2doi
050 4 _aTJ210.2-211.495
050 4 _aT59.5
072 7 _aTJFM1
_2bicssc
072 7 _aTEC037000
_2bisacsh
072 7 _aTEC004000
_2bisacsh
082 0 4 _a629.892
_223
100 1 _aZhang, Yunong.
_eauthor.
245 1 0 _aRepetitive Motion Planning and Control of Redundant Robot Manipulators
_h[electronic resource] /
_cby Yunong Zhang, Zhijun Zhang.
264 1 _aBerlin, Heidelberg :
_bSpringer Berlin Heidelberg :
_bImprint: Springer,
_c2013.
300 _aXVII, 196 p.
_bonline resource.
336 _atext
_btxt
_2rdacontent
337 _acomputer
_bc
_2rdamedia
338 _aonline resource
_bcr
_2rdacarrier
347 _atext file
_bPDF
_2rda
505 0 _aFundamentals -- 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.
520 _aRepetitive 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.      .
650 0 _aEngineering.
650 0 _aArtificial intelligence.
650 0 _aComputer simulation.
650 0 _aNumerical analysis.
650 0 _aRobotics.
650 0 _aAutomation.
650 1 4 _aEngineering.
650 2 4 _aRobotics and Automation.
650 2 4 _aArtificial Intelligence (incl. Robotics).
650 2 4 _aNumerical Analysis.
650 2 4 _aSimulation and Modeling.
700 1 _aZhang, Zhijun.
_eauthor.
710 2 _aSpringerLink (Online service)
773 0 _tSpringer eBooks
776 0 8 _iPrinted edition:
_z9783642375170
856 4 0 _uhttp://dx.doi.org/10.1007/978-3-642-37518-7
912 _aZDB-2-ENG
942 _cEBK
999 _c54248
_d54248