Introduces a revolutionary, quadratic–programming based approach to solving long–standing problems in motion planning and control of redundant manipulators This book describes a novel quadratic programming approach to solving redundancy resolutions problems with redundant manipulators. Known as ``QP–unified motion planning and control of redundant manipulators?? theory, it systematically solves difficult optimization problems of inequality–constrained motion planning and control of redundant manipulators that have plagued robotics engineers and systems designers for more than a quarter century. An example of redundancy resolution could involve a robotic limb with six joints, or degrees of freedom (DOFs), with which to position an object. As only five numbers are required to specify the position and orientation of the object, the robot can move with one remaining DOF through practically infinite poses while performing a specified task. In this case redundancy resolution refers to the process of choosing an optimal pose from among that infinite set. A critical issue in robotic systems control, the redundancy resolution problem has been widely studied for decades, and numerous solutions have been proposed. This book investigates various approaches to motion planning and control of redundant robot manipulators and describes the most successful strategy thus far developed for resolving redundancy resolution problems. Provides a fully connected, systematic, methodological, consecutive, and easy approach to solving redundancy resolution problems Describes a new approach to the time–varying Jacobian matrix pseudoinversion, applied to the redundant–manipulator kinematic control Introduces The QP–based unification of robots? redundancy resolution Illustrates the effectiveness of the methods presented using a large number of computer simulation results based on PUMA560, PA10, and planar robot manipulators Provides technical details for all schemes and solvers presented, for readers to adopt and customize them for specific industrial applications Robot Manipulator Redundancy Resolution is must–reading for advanced undergraduates and graduate students of robotics, mechatronics, mechanical engineering, tracking control, neural dynamics/neural networks, numerical algorithms, computation and optimization, simulation and modelling, analog, and digital circuits. It is also a valuable working resource for practicing robotics engineers and systems designers and industrial researchers. INDICE: List of Figures xi .List of Tables xxvii .Preface xxix .Acknowledgments xxxv .Acronyms xxxvii .PART I PSEUDOINVERSEBASED ZD APPROACH .1 Redundancy Resolution via Pseudoinverse and ZD Models 3 .1.1 Introduction 4 .1.2 Problem Formulation and ZD Models 6 .1.3 ZD Applications to DifferentType Robot Manipulators 11 .1.4 Chapter Summary 16 .PART II INVERSE FREE .SIMPLE APPROACH .2 G1 Type Scheme to JVL Inverse Kinematics 19 .2.1 Introduction 20 .2.2 Preliminaries and Related Work 21 .2.3 Scheme Formulation 24 .2.4 Computer Simulations 27 .2.5 Physical Experiments 28 .2.6 Chapter Summary 28 .3 D1G1 Type Scheme to JAL Inverse Kinematics 33 .3.1 Introduction 34 .3.2 Preliminaries and Related Work 34 .3.3 Scheme Formulation 37 .3.4 Computer Simulations 40 .3.5 Chapter Summary 44 .4 Z1G1 Type Scheme to JAL Inverse Kinematics 45 .4.1 Introduction 46 .4.2 Problem Formulation and Z1G1 Type Scheme 46 .4.3 Computer Simulations 47 .4.4 Physical Experiments 52 .4.5 Chapter Summary 55 .PART III QP APPROACH AND UNIFICATION .5 Redundancy Resolution via QP Approach and Unification 59 .5.1 Introduction 60 .5.2 Robotic Formulation 61 .5.3 Handling Joint Physical Limits 63 .5.4 Avoiding Obstacles 64 .5.5 Various Performance Indices 66 .5.6 Unified QP Formulation 67 .5.7 Online QP Solutions 68 .5.8 Computer Simulations 73 .5.9 Chapter Summary 78 .PART IV ILLUSTRATIVE JVL QP SCHEMES AND PERFORMANCES .6 Varying Joint Velocity Limits Handled by QP 83 .6.1 Introduction 84 .6.2 Preliminaries and Problem Formulation 84 .6.3 94LVI Assisted QP Solution 92 .6.4 Computer Simulations and Physical Experiments 93 .6.5 Chapter Summary 110 .7 FeedbackAided Minimum Joint Motion 111 .7.1 Introduction 112 .7.2 Preliminaries and Problem Formulation 114 .7.3 Computer Simulations and Physical Experiments 123 .7.4 Chapter Summary 138 .8 QP Based Manipulator State Adjustment 139 .8.1 Introduction 140 .8.2 Preliminaries and Scheme Formulation 141 .8.3 QP Solution and Control of Robot Manipulator 143 .8.4 Computer Simulations and Comparisons 145 .8.5 Physical Experiments 155 .8.6 Chapter Summary 156 .PART V SELFMOTION PLANNING .9 QP Based SelfMotion Planning 161 .9.1 Introduction 161 .9.2 Preliminaries and QP Formulation 163 .9.3 LVIAPDNN Assisted QP Solution 164 .9.4 PUMA560 Based Computer Simulations 165 .9.5 PA10 Based Computer Simulations 177 .9.6 Chapter Summary 182 .10 Pseudoinverse Method and Singularities Discussed 185 .10.1 Introduction 186 .10.2 Preliminaries and Scheme Formulation 187 .10.3 LVIAPDNN Assisted QP Solution with Discussion 189 .10.4 Computer Simulations 194 .10.5 Chapter Summary 206 .11 SelfMotion Planning with ZIV Constraint 209 .11.1 Introduction 210 .11.2 Preliminaries and Scheme Formulation 211 .11.3 E47 Assisted QP Solution 215 .11.4 Computer Simulations and Physical Experiments 216 .11.5 Chapter Summary 225 .PART VI MANIPULABILITY MAXIMIZATION .12 ManipulabilityMaximizing SMP Scheme 229 .12.1 Introduction 230 .12.2 Scheme Formulation 231 .12.3 Computer Simulations and Physical Experiments 234 .12.4 Chapter Summary 238 .13 TimeVarying Coefficient Aided MM Scheme 239 .13.1 Introduction 240 .13.2 ManipulabilityMaximization with TimeVarying Coefficient 241 .13.3 Computer Simulations and Physical Experiments 248 .13.4 Chapter Summary 257 .PART VII ENCODER FEEDBACK AND JOYSTICK CONTROL .14 QP Based Encoder Feedback Control 261 .14.1 Introduction 261 .14.2 Preliminaries and Scheme Formulation 263 .14.3 Computer Simulations 268 .14.4 Physical Experiments 279 .14.5 Chapter Summary 283 .15 QP Based Joystick Control 285 .15.1 Introduction 286 .15.2 Preliminaries and Hardware System 286 .15.3 Scheme Formulation 288 .15.4 Computer Simulations and Physical Experiments 290 .15.5 Chapter Summary 295 .References 297 .Index 315
- ISBN: 978-1-119-38123-5
- Editorial: Wiley–Blackwell
- Encuadernacion: Cartoné
- Páginas: 320
- Fecha Publicación: 10/11/2017
- Nº Volúmenes: 1
- Idioma: Inglés