Robot Manipulator Redundancy Resolution.

Intro -- Title Page -- Copyright -- Dedication -- Table of Contents -- List of Figures -- List of Tables -- Preface -- Acknowledgments -- Acronyms -- Part I: Pseudoinverse-Based ZD Approach -- Chapter 1: Redundancy Resolution via Pseudoinverse and ZD Models -- 1.1 Introduction -- 1.2 Problem Formulation and ZD Models -- 1.3 ZD Applications to Different-Type Robot Manipulators -- 1.4 Chapter Summary -- Part II: Inverse-Free Simple Approach -- Chapter 2: G1 Type Scheme to JVL Inverse Kinematics -- 2.1 Introduction -- 2.2 Preliminaries and Related Work -- 2.3 Scheme Formulation -- 2.4 Computer Simulations -- 2.5 Physical Experiments -- 2.6 Chapter Summary -- Chapter 3: D1G1 Type Scheme to JAL Inverse Kinematics -- 3.1 Introduction -- 3.2 Preliminaries and Related Work -- 3.3 Scheme Formulation -- 3.4 Computer Simulations -- 3.5 Chapter Summary -- Chapter 4: Z1G1 Type Scheme to JAL Inverse Kinematics -- 4.1 Introduction -- 4.2 Problem Formulation and Z1G1 Type Scheme -- 4.3 Computer Simulations -- 4.4 Physical Experiments -- 4.5 Chapter Summary -- Part III: QP Approach and Unification -- Chapter 5: Redundancy Resolution via QP Approach and Unification -- 5.1 Introduction -- 5.2 Robotic Formulation -- 5.3 Handling Joint Physical Limits -- 5.4 Avoiding Obstacles -- 5.5 Various Performance Indices -- 5.6 Unified QP Formulation -- 5.7 Online QP Solutions -- 5.8 Computer Simulations -- 5.9 Chapter Summary -- Part IV: Illustrative JVL QP Schemes and Performances -- Chapter 6: Varying Joint-Velocity Limits Handled by QP -- 6.1 Introduction -- 6.2 Preliminaries and Problem Formulation -- 6.3 94LVI Assisted QP Solution -- 6.4 Computer Simulations and Physical Experiments -- 6.5 Chapter Summary -- Chapter 7: Feedback-Aided Minimum Joint Motion -- 7.1 Introduction -- 7.2 Preliminaries and Problem Formulation -- 7.3 Computer Simulations and Physical Experiments.

7.4 Chapter Summary -- Chapter 8: QP Based Manipulator State Adjustment -- 8.1 Introduction -- 8.2 Preliminaries and Scheme Formulation -- 8.3 QP Solution and Control of Robot Manipulator -- 8.4 Computer Simulations and Comparisons -- 8.5 Physical Experiments -- 8.6 Chapter Summary -- Part V: Self-Motion Planning -- Chapter 9: QP-Based Self-Motion Planning -- 9.1 Introduction -- 9.2 Preliminaries and QP Formulation -- 9.3 LVIAPDNN Assisted QP Solution -- 9.4 PUMA560 Based Computer Simulations -- 9.5 PA10 Based Computer Simulations -- 9.6 Chapter Summary -- Chapter 10: Pseudoinverse Method and Singularities Discussed -- 10.1 Introduction -- 10.2 Preliminaries and Scheme Formulation -- 10.3 LVIAPDNN Assisted QP Solution with Discussion -- 10.4 Computer Simulations -- 10.5 Chapter Summary -- Appendix -- Chapter 11: Self-Motion Planning with ZIV Constraint -- 11.1 Introduction -- 11.2 Preliminaries and Scheme Formulation -- 11.3 E47 Assisted QP Solution -- 11.4 Computer Simulations and Physical Experiments -- 11.5 Chapter Summary -- Part VI: Manipulability Maximization -- Chapter 12: Manipulability-Maximizing SMP Scheme -- 12.1 Introduction -- 12.2 Scheme Formulation -- 12.3 Computer Simulations and Physical Experiments -- 12.4 Chapter Summary -- Chapter 13: Time-Varying Coefficient Aided MM Scheme -- 13.1 Introduction -- 13.2 Manipulability-Maximization with Time-Varying Coefficient -- 13.3 Computer Simulations and Physical Experiments -- 13.4 Chapter Summary -- Part VII: Encoder Feedback and Joystick Control -- Chapter 14: QP Based Encoder Feedback Control -- 14.1 Introduction -- 14.2 Preliminaries and Scheme Formulation -- 14.3 Computer Simulations -- 14.4 Physical Experiments -- 14.5 Chapter Summary -- Chapter 15: QP Based Joystick Control -- 15.1 Introduction -- 15.2 Preliminaries and Hardware System -- 15.3 Scheme Formulation.

15.4 Computer Simulations and Physical Experiments -- 15.5 Chapter Summary -- References -- Index -- End User License Agreement.

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Electronic reproduction. Ann Arbor, Michigan : ProQuest Ebook Central, 2024. Available via World Wide Web. Access may be limited to ProQuest Ebook Central affiliated libraries.