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.