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Repetitive Motion Planning and Control of Redundant Robot Manipulators

  • Yunong Zhang
  • Zhijun Zhang

Table of contents

  1. Front Matter
    Pages I-XVII
  2. Yunong Zhang, Zhijun Zhang
    Pages 1-13
  3. Schemes

    1. Front Matter
      Pages 15-15
    2. Yunong Zhang, Zhijun Zhang
      Pages 17-25
    3. Yunong Zhang, Zhijun Zhang
      Pages 27-30
  4. QP Solvers

    1. Front Matter
      Pages 31-31
    2. Yunong Zhang, Zhijun Zhang
      Pages 33-56
    3. Yunong Zhang, Zhijun Zhang
      Pages 57-81
    4. Yunong Zhang, Zhijun Zhang
      Pages 83-93
    5. Yunong Zhang, Zhijun Zhang
      Pages 95-105
  5. Robot Simulations and Experiments

    1. Front Matter
      Pages 107-107
    2. Yunong Zhang, Zhijun Zhang
      Pages 109-128
    3. Yunong Zhang, Zhijun Zhang
      Pages 129-136
    4. Yunong Zhang, Zhijun Zhang
      Pages 137-148
    5. Yunong Zhang, Zhijun Zhang
      Pages 149-166
  6. Back Matter
    Pages 167-196

About this book

Introduction

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.    

 

Keywords

Numerical Methods Quadratic Program (QP) RMP Scheme Recurrent Neural Network Repetitive Motion Planning and Control Robot Manipulator

Authors and affiliations

  • Yunong Zhang
    • 1
  • Zhijun Zhang
    • 2
  1. 1.Sun Yat-sen UniversityGuangzhouChina, People's Republic
  2. 2.Sun Yat-sen UniversityGuangzhouChina, People's Republic

Bibliographic information

  • DOI https://doi.org/10.1007/978-3-642-37518-7
  • Copyright Information Springer-Verlag Berlin Heidelberg 2013
  • Publisher Name Springer, Berlin, Heidelberg
  • eBook Packages Engineering
  • Print ISBN 978-3-642-37517-0
  • Online ISBN 978-3-642-37518-7
  • Buy this book on publisher's site
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