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Robot Manipulator Redundancy Resolution

Author Yunong Zhang , Long Jin
Release Date: 2017/11/01
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Book Description

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.

Table of Contents

  1. Cover
  2. Title Page
    1. Copyright
    2. Dedication
  3. List of Figures
  4. List of Tables
  5. Preface
  6. Acknowledgments
  7. Acronyms
  8. Part I: Pseudoinverse-Based ZD Approach
    1. Chapter 1: Redundancy Resolution via Pseudoinverse and ZD Models
      1. 1.1 Introduction
      2. 1.2 Problem Formulation and ZD Models
      3. 1.3 ZD Applications to Different-Type Robot Manipulators
      4. 1.4 Chapter Summary
  9. Part II: Inverse-Free Simple Approach
    1. Chapter 2: G1 Type Scheme to JVL Inverse Kinematics
      1. 2.1 Introduction
      2. 2.2 Preliminaries and Related Work
      3. 2.3 Scheme Formulation
      4. 2.4 Computer Simulations
      5. 2.5 Physical Experiments
      6. 2.6 Chapter Summary
    2. Chapter 3: D1G1 Type Scheme to JAL Inverse Kinematics
      1. 3.1 Introduction
      2. 3.2 Preliminaries and Related Work
      3. 3.3 Scheme Formulation
      4. 3.4 Computer Simulations
      5. 3.5 Chapter Summary
    3. Chapter 4: Z1G1 Type Scheme to JAL Inverse Kinematics
      1. 4.1 Introduction
      2. 4.2 Problem Formulation and Z1G1 Type Scheme
      3. 4.3 Computer Simulations
      4. 4.4 Physical Experiments
      5. 4.5 Chapter Summary
  10. Part III: QP Approach and Unification
    1. Chapter 5: Redundancy Resolution via QP Approach and Unification
      1. 5.1 Introduction
      2. 5.2 Robotic Formulation
      3. 5.3 Handling Joint Physical Limits
      4. 5.4 Avoiding Obstacles
      5. 5.5 Various Performance Indices
      6. 5.6 Unified QP Formulation
      7. 5.7 Online QP Solutions
      8. 5.8 Computer Simulations
      9. 5.9 Chapter Summary
  11. Part IV: Illustrative JVL QP Schemes and Performances
    1. Chapter 6: Varying Joint-Velocity Limits Handled by QP
      1. 6.1 Introduction
      2. 6.2 Preliminaries and Problem Formulation
      3. 6.3 94LVI Assisted QP Solution
      4. 6.4 Computer Simulations and Physical Experiments
      5. 6.5 Chapter Summary
    2. Chapter 7: Feedback-Aided Minimum Joint Motion
      1. 7.1 Introduction
      2. 7.2 Preliminaries and Problem Formulation
      3. 7.3 Computer Simulations and Physical Experiments
      4. 7.4 Chapter Summary
    3. Chapter 8: QP Based Manipulator State Adjustment
      1. 8.1 Introduction
      2. 8.2 Preliminaries and Scheme Formulation
      3. 8.3 QP Solution and Control of Robot Manipulator
      4. 8.4 Computer Simulations and Comparisons
      5. 8.5 Physical Experiments
      6. 8.6 Chapter Summary
  12. Part V: Self-Motion Planning
    1. Chapter 9: QP-Based Self-Motion Planning
      1. 9.1 Introduction
      2. 9.2 Preliminaries and QP Formulation
      3. 9.3 LVIAPDNN Assisted QP Solution
      4. 9.4 PUMA560 Based Computer Simulations
      5. 9.5 PA10 Based Computer Simulations
      6. 9.6 Chapter Summary
    2. Chapter 10: Pseudoinverse Method and Singularities Discussed
      1. 10.1 Introduction
      2. 10.2 Preliminaries and Scheme Formulation
      3. 10.3 LVIAPDNN Assisted QP Solution with Discussion
      4. 10.4 Computer Simulations
      5. 10.5 Chapter Summary
      6. Appendix
    3. Chapter 11: Self-Motion Planning with ZIV Constraint
      1. 11.1 Introduction
      2. 11.2 Preliminaries and Scheme Formulation
      3. 11.3 E47 Assisted QP Solution
      4. 11.4 Computer Simulations and Physical Experiments
      5. 11.5 Chapter Summary
  13. Part VI: Manipulability Maximization
    1. Chapter 12: Manipulability-Maximizing SMP Scheme
      1. 12.1 Introduction
      2. 12.2 Scheme Formulation
      3. 12.3 Computer Simulations and Physical Experiments
      4. 12.4 Chapter Summary
    2. Chapter 13: Time-Varying Coefficient Aided MM Scheme
      1. 13.1 Introduction
      2. 13.2 Manipulability-Maximization with Time-Varying Coefficient
      3. 13.3 Computer Simulations and Physical Experiments
      4. 13.4 Chapter Summary
  14. Part VII: Encoder Feedback and Joystick Control
    1. Chapter 14: QP Based Encoder Feedback Control
      1. 14.1 Introduction
      2. 14.2 Preliminaries and Scheme Formulation
      3. 14.3 Computer Simulations
      4. 14.4 Physical Experiments
      5. 14.5 Chapter Summary
    2. Chapter 15: QP Based Joystick Control
      1. 15.1 Introduction
      2. 15.2 Preliminaries and Hardware System
      3. 15.3 Scheme Formulation
      4. 15.4 Computer Simulations and Physical Experiments
      5. 15.5 Chapter Summary
  15. References
    1. Index
  16. End User License Agreement
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