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Repetitive Motion Planning and Control of Redundant Robot Manipulators

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Repetitive Motion Planning and Control of Redundant Robot Manipulators Cover

 

Synopses & Reviews

Publisher Comments:

Repetitive Motion Planning and Control of Redundant Robot Manipulators presents four typical motion planning schemes based on optimization techniques, including the fundamental RMP scheme and its extensions. These schemes are unified as quadratic programs (QPs), which are solved by neural networks or numerical algorithms. The RMP schemes are demonstrated effectively by the simulation results based on various robotic models; the experiments applying the fundamental RMP scheme to a physical robot manipulator are also presented. As the schemes and the corresponding solvers presented in the book have solved the non-repetitive motion problems existing in redundant robot manipulators, it is of particular use in applying theoretical research based on the quadratic program for redundant robot manipulators in industrial situations. This book will be a valuable reference work for engineers, researchers, advanced undergraduate and graduate students in robotics fields.

Yunong Zhang is a professor at The School of Information Science and Technology, Sun Yat-sen University, Guangzhou, China; Zhijun Zhang is a research fellow working at the same institute.

Synopsis:

This book presents four typical motion planning schemes based on optimization techniques, including the fundamental RMP scheme and its extensions. These schemes are unified as quadratic programs, which are solved by neural networks or numerical algorithms.

Synopsis:

Repetitive Motion Planning and Control of Redundant Robot Manipulators presents four typical motion planning schemes based on optimization techniques, including the fundamental RMP scheme and its extensions. These schemes are unified as quadratic programs (QPs), which are solved by neural networks or numerical algorithms. The RMP schemes are demonstrated effectively by the simulation results based on various robotic models; the experiments applying the fundamental RMP scheme to a physical robot manipulator are also presented. As the schemes and the corresponding solvers presented in the book have solved the non-repetitive motion problems existing in redundant robot manipulators, it is of particular use in applying theoretical research based on the quadratic program for redundant robot manipulators in industrial situations. This book will be a valuable reference work for engineers, researchers, advanced undergraduate and graduate students in robotics fields. Yunong Zhang is a professor at The School of Information Science and Technology, Sun Yat-sen University, Guangzhou, China; Zhijun Zhang is a research fellow working at the same institute.

Table of Contents

Fundamentals.- Part I Schemes.- Robotic RMP Schemes and QP Formulations.- Proofs of Repetitive Motion Performance Index.- Part II QP Solvers.- Dual Neural Network.- Primal-Dual Neural Networks.- Numerical Algorithm 94LVI.- Numerical Algorithm E47.- Part III Robot Simulations and Experiments.- Examples of Planar Multi-Link Manipulators.- PUMA560 Examples.- PA10 Examples.- Physical Robot Manipulator Experiments.- Part IV Appendices.

Product Details

ISBN:
9783642375170
Author:
Zhang, Yunong
Publisher:
Springer
Author:
Zhang, Zhijun
Location:
Berlin, Heidelberg
Subject:
Robotics
Subject:
Numerical methods
Subject:
Quadratic Program (QP)
Subject:
RMP Scheme
Subject:
Recurrent Neural Network
Subject:
Repetitive Motion Planning and Control
Subject:
Robot Manipulator
Subject:
Robotics and Automation
Subject:
Artificial Intelligence (incl. Robotics)
Subject:
Numerical analysis
Subject:
Simulation and Modeling
Subject:
Computers-Reference - General
Subject:
Engineering
Subject:
B
Subject:
Artificial Intelligence
Subject:
Computer simulation
Copyright:
Edition Description:
2013
Publication Date:
20130708
Binding:
HARDCOVER
Language:
English
Pages:
216
Dimensions:
235 x 155 mm

Related Subjects

Computers and Internet » Artificial Intelligence » General
Computers and Internet » Artificial Intelligence » Robotics
Computers and Internet » Computers Reference » Computer Simulation
Computers and Internet » Computers Reference » General
Science and Mathematics » Mathematics » Foundations and Logic
Science and Mathematics » Mathematics » Introduction
Transportation » Aviation » General
Transportation » General

Repetitive Motion Planning and Control of Redundant Robot Manipulators Used Hardcover
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Product details 216 pages Springer - English 9783642375170 Reviews:
"Synopsis" by , This book presents four typical motion planning schemes based on optimization techniques, including the fundamental RMP scheme and its extensions. These schemes are unified as quadratic programs, which are solved by neural networks or numerical algorithms.
"Synopsis" by , Repetitive Motion Planning and Control of Redundant Robot Manipulators presents four typical motion planning schemes based on optimization techniques, including the fundamental RMP scheme and its extensions. These schemes are unified as quadratic programs (QPs), which are solved by neural networks or numerical algorithms. The RMP schemes are demonstrated effectively by the simulation results based on various robotic models; the experiments applying the fundamental RMP scheme to a physical robot manipulator are also presented. As the schemes and the corresponding solvers presented in the book have solved the non-repetitive motion problems existing in redundant robot manipulators, it is of particular use in applying theoretical research based on the quadratic program for redundant robot manipulators in industrial situations. This book will be a valuable reference work for engineers, researchers, advanced undergraduate and graduate students in robotics fields. Yunong Zhang is a professor at The School of Information Science and Technology, Sun Yat-sen University, Guangzhou, China; Zhijun Zhang is a research fellow working at the same institute.
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