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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 robot manipulator is said to be redundant when it has more DOF than necessary to perform a given end-effector task. The fundamental issue to operate such a redundant system is the redundancy-resolution problem. In recent decades, a favorable manner based on online optimization techniques has been applied to solving such redundancy-resolution problem and most of these optimization techniques can be formulated as a (time-varying) quadratic program (QP) subject to equality and inequality constraints. Furthermore, the constrained QP can be transformed into a system of piecewise-linear equations (PLE) and then solved by a number of methods and techniques.

15.1
Introduction...
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