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Robot Manipulator Redundancy Resolution

By
Yunong Zhang
Yunong Zhang
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Long Jin
Long Jin
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ISBN:
9781119381235
No. of Pages:
318
Publisher:
ASME-Wiley
Publication date:
2017

A manipulator is said to be redundant when more DOF are available than the minimum number required to perform a specific end-effector primary task. For redundant manipulators, as discussed in previous chapters, the inverse kinematic resolution is a fundamental issue in operating the robot systems. The general description of this problem is that, given the desired Cartesian path rd(t) ∈ ℝm for the manipulator’s end-effector to track, how can we generate the corresponding joint trajectory θ(t) ∈ ℝn in real time t? Note that n > m and, thus, there...

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
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