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Produktbild: Robot Manipulator Redundancy Resolution

Robot Manipulator Redundancy Resolution

Aus der Reihe Wiley-ASME Press Series

162,99 €

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Beschreibung

Produktdetails

Einband

Gebundene Ausgabe

Erscheinungsdatum

20.11.2017

Verlag

John Wiley & Sons

Seitenzahl

320

Maße (L/B/H)

24,6/17,3/2 cm

Gewicht

816 g

Auflage

1. Auflage

Sprache

Englisch

ISBN

978-1-119-38123-5

Beschreibung

Produktdetails

Einband

Gebundene Ausgabe

Erscheinungsdatum

20.11.2017

Verlag

John Wiley & Sons

Seitenzahl

320

Maße (L/B/H)

24,6/17,3/2 cm

Gewicht

816 g

Auflage

1. Auflage

Sprache

Englisch

ISBN

978-1-119-38123-5

Herstelleradresse

Libri GmbH
Europaallee 1
36244 Bad Hersfeld
DE

Email: GPSR Kontakt

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  • Produktbild: Robot Manipulator Redundancy Resolution
  • List of Figures xiii
     
    List of Tables xxv
     
    Preface xxvii
     
    Acknowledgments xxxiii
     
    Acronyms xxxv
     
    Part I Pseudoinverse-Based ZD Approach 1
     
    1 Redundancy Resolution via Pseudoinverse and ZD Models 3
     
    1.1 Introduction 3
     
    1.2 Problem Formulation and ZD Models 5
     
    1.2.1 Problem Formulation 5
     
    1.2.2 Continuous-Time ZD Model 6
     
    1.2.3 Discrete-Time ZD Models 7
     
    1.2.3.1 Euler-Type DTZD Model with J (t) Known 7
     
    1.2.3.2 Euler-Type DTZD Model with J (t) Unknown 7
     
    1.2.3.3 Taylor-Type DTZD Models 8
     
    1.3 ZD Applications to Different-Type Robot Manipulators 9
     
    1.3.1 Application to a Five-Link Planar Robot Manipulator 9
     
    1.3.2 Application to a Three-Link Planar Robot Manipulator 12
     
    1.4 Chapter Summary 14
     
    Part II Inverse-Free Simple Approach 15
     
    2 G1 Type Scheme to JVL Inverse Kinematics 17
     
    2.1 Introduction 17
     
    2.2 Preliminaries and RelatedWork 18
     
    2.3 Scheme Formulation 18
     
    2.4 Computer Simulations 19
     
    2.4.1 Square-Path Tracking Task 19
     
    2.4.2 "Z"-Shaped Path Tracking Task 22
     
    2.5 Physical Experiments 25
     
    2.6 Chapter Summary 26
     
    3 D1G1 Type Scheme to JAL Inverse Kinematics 27
     
    3.1 Introduction 27
     
    3.2 Preliminaries and RelatedWork 28
     
    3.3 Scheme Formulation 28
     
    3.4 Computer Simulations 29
     
    3.4.1 Rhombus-Path Tracking Task 29
     
    3.4.1.1 Verifications 29
     
    3.4.1.2 Comparisons 30
     
    3.4.2 Triangle-Path Tracking Task 32
     
    3.5 Chapter Summary 36
     
    4 Z1G1 Type Scheme to JAL Inverse Kinematics 37
     
    4.1 Introduction 37
     
    4.2 Problem Formulation and Z1G1 Type Scheme 37
     
    4.3 Computer Simulations 38
     
    4.3.1 Desired Initial Position 38
     
    4.3.1.1 Isosceles-Trapezoid Path Tracking 40
     
    4.3.1.2 Isosceles-Triangle Path Tracking 41
     
    4.3.1.3 Square Path Tracking 42
     
    4.3.2 Nondesired Initial Position 44
     
    4.4 Physical Experiments 45
     
    4.5 Chapter Summary 45
     
    Part III QP Approach and Unification 47
     
    5 Redundancy Resolution via QP Approach and Unification 49
     
    5.1 Introduction 49
     
    5.2 Robotic Formulation 50
     
    5.3 Handling Joint Physical Limits 52
     
    5.3.1 Joint-Velocity Level 52
     
    5.3.2 Joint-Acceleration Level 52
     
    5.4 Avoiding Obstacles 53
     
    5.5 Various Performance Indices 54
     
    5.5.1 Resolved at Joint-Velocity Level 55
     
    5.5.1.1 MVN scheme 55
     
    5.5.1.2 RMP scheme 55
     
    5.5.1.3 MKE scheme 55
     
    5.5.2 Resolved at Joint-Acceleration Level 55
     
    5.5.2.1 MAN scheme 55
     
    5.5.2.2 MTN scheme 56
     
    5.5.2.3 IIWT scheme 56
     
    5.6 Unified QP Formulation 56
     
    5.7 Online QP Solutions 57
     
    5.7.1 Traditional QP Routines 57
     
    5.7.2 Compact QP Method 57
     
    5.7.3 Dual Neural Network 57
     
    5.7.4 LVI-Aided Primal-Dual Neural Network 57
     
    5.7.5 Numerical Algorithms E47 and 94LVI 59
     
    5.7.5.1 Numerical Algorithm E47 59
     
    5.7.5.2 Numerical Algorithm 94LVI 59
     
    5.8 Computer Simulations 61
     
    5.9 Chapter Summary 66
     
    Part IV Illustrative JVL QP Schemes and Performances 67
     
    6 Varying Joint-Velocity Limits Handled by QP 69
     
    6.1 Introduction 69
     
    6.2 Preliminaries and Problem Formulation 70
     
    6.2.1 Six-DOF Planar Robot System 70
     
    6.2.2 Varying Joint-Velocity Limits 73
     
    6.3 9 4LVI Assisted QP Solution 76
     
    6.4 Computer Simulations and Phys