Repetitive Motion Planning and Control of Redundant Robot Manipulators [recurso electrónico] $c

__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. Front Matter....Pages I-XVII Fundamentals....Pages 1-13 Front Matter....Pages 15-15 Robotic RMP Schemes and QP Formulations....Pages 17-25 Proofs of Repetitive Motion Performance Index....Pages 27-30 Front Matter....Pages 31-31 Dual Neural Network....Pages 33-56 Primal–Dual Neural Networks....Pages 57-81 Numerical Algorithm 94LVI....Pages 83-93 Numerical Algorithm E47....Pages 95-105 Front Matter....Pages 107-107 Examples of Planar Multilink Manipulators....Pages 109-128 PUMA560 Examples....Pages 129-136 PA10 Examples....Pages 137-148 Physical Robot Manipulator Experiments....Pages 149-166 Back Matter....Pages 167-196 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.