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Bibliografická citace

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Hoboken, New Jersey : Wiley, [2017]
1 online zdroj
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ISBN 9781119381433 (elektronická kniha)
ISBN 1119381436 (elektronická kniha)
ISBN 9781119381440 (elektronická kniha)
ISBN 1119381444 (elektronická kniha)
ISBN !9781119381426 (chyb.)
ISBN !1119381428 (chyb.)
ISBN !9781119381235 (vázáno) (chyb.)
Tištěné vydání Zhang, Yunong, 1973- author. Robot manipulator redundancy resolution Hoboken, New Jersey : Wiley, [2017] ISBN 9781119381235
Obsahuje bibliografie a rejstřík
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 SummaryChapter 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 Indices5.6 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 Adjustment8.1 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 Formulation10.3 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
Description based on print version record and CIP data provided by publisher; resource not viewed
001479574
(OCoLC)984512183

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