Repetitive Motion Planning And Control Of Redundant Robot Manipulators
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Repetitive Motion Planning And Control Of Redundant Robot Manipulators
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Author : Yunong Zhang
language : en
Publisher: Springer Science & Business Media
Release Date : 2014-07-08
Repetitive Motion Planning And Control Of Redundant Robot Manipulators written by Yunong Zhang and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2014-07-08 with Technology & Engineering categories.
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.
Zhang Functions And Various Models
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Author : Yunong Zhang
language : en
Publisher: Springer
Release Date : 2015-05-29
Zhang Functions And Various Models written by Yunong Zhang and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2015-05-29 with Technology & Engineering categories.
This book focuses on solving different types of time-varying problems. It presents various Zhang dynamics (ZD) models by defining various Zhang functions (ZFs) in real and complex domains. It then provides theoretical analyses of such ZD models and illustrates their results. It also uses simulations to substantiate their efficacy and show the feasibility of the presented ZD approach (i.e., different ZFs leading to different ZD models), which is further applied to the repetitive motion planning (RMP) of redundant robots, showing its application potential.
Neural Bio Inspired Processing And Robot Control
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Author : Huanqing Wang
language : en
Publisher: Frontiers Media SA
Release Date : 2019-01-24
Neural Bio Inspired Processing And Robot Control written by Huanqing Wang and has been published by Frontiers Media SA this book supported file pdf, txt, epub, kindle and other format this book has been release on 2019-01-24 with categories.
This Research Topic presents bio-inspired and neurological insights for the development of intelligent robotic control algorithms. This aims to bridge the inter-disciplinary gaps between neuroscience and robotics to accelerate the pace of research and development.
Robot Manipulator Redundancy Resolution
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Author : Yunong Zhang
language : en
Publisher: John Wiley & Sons
Release Date : 2017-09-11
Robot Manipulator Redundancy Resolution written by Yunong Zhang and has been published by John Wiley & Sons this book supported file pdf, txt, epub, kindle and other format this book has been release on 2017-09-11 with Technology & Engineering categories.
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.
Machine Learning Methods For High Level Cognitive Capabilities In Robotics
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Author : Emre Ugur
language : en
Publisher: Frontiers Media SA
Release Date : 2019-12-24
Machine Learning Methods For High Level Cognitive Capabilities In Robotics written by Emre Ugur and has been published by Frontiers Media SA this book supported file pdf, txt, epub, kindle and other format this book has been release on 2019-12-24 with categories.
Kinematic Control Of Redundant Robot Arms Using Neural Networks
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Author : Shuai Li
language : en
Publisher: John Wiley & Sons
Release Date : 2019-02-12
Kinematic Control Of Redundant Robot Arms Using Neural Networks written by Shuai Li and has been published by John Wiley & Sons this book supported file pdf, txt, epub, kindle and other format this book has been release on 2019-02-12 with Technology & Engineering categories.
Presents pioneering and comprehensive work on engaging movement in robotic arms, with a specific focus on neural networks This book presents and investigates different methods and schemes for the control of robotic arms whilst exploring the field from all angles. On a more specific level, it deals with the dynamic-neural-network based kinematic control of redundant robot arms by using theoretical tools and simulations. Kinematic Control of Redundant Robot Arms Using Neural Networks is divided into three parts: Neural Networks for Serial Robot Arm Control; Neural Networks for Parallel Robot Control; and Neural Networks for Cooperative Control. The book starts by covering zeroing neural networks for control, and follows up with chapters on adaptive dynamic programming neural networks for control; projection neural networks for robot arm control; and neural learning and control co-design for robot arm control. Next, it looks at robust neural controller design for robot arm control and teaches readers how to use neural networks to avoid robot singularity. It then instructs on neural network based Stewart platform control and neural network based learning and control co-design for Stewart platform control. The book finishes with a section on zeroing neural networks for robot arm motion generation. Provides comprehensive understanding on robot arm control aided with neural networks Presents neural network-based control techniques for single robot arms, parallel robot arms (Stewart platforms), and cooperative robot arms Provides a comparison of, and the advantages of, using neural networks for control purposes rather than traditional control based methods Includes simulation and modelling tasks (e.g., MATLAB) for onward application for research and engineering development By focusing on robot arm control aided by neural networks whilst examining central topics surrounding the field, Kinematic Control of Redundant Robot Arms Using Neural Networks is an excellent book for graduate students and academic and industrial researchers studying neural dynamics, neural networks, analog and digital circuits, mechatronics, and mechanical engineering.
Advances In Neural Networks Isnn 2014
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Author : Zhigang Zeng
language : en
Publisher: Springer
Release Date : 2014-11-28
Advances In Neural Networks Isnn 2014 written by Zhigang Zeng and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2014-11-28 with Computers categories.
The volume LNCS 8866 constitutes the refereed proceedings of the 11th International Symposium on Neural Networks, ISNN 2014, held in Hong Kong and Macao, China on November/ December 2014. The 71 revised full papers presented were carefully reviewed and selected from 119 submissions. These papers cover all major topics of the theoretical research, empirical study and applications of neural networks research as follows. The focus is on following topics such as analysis, modeling, and applications.
Intelligent Robotics And Applications
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Author : Xin-Jun Liu
language : en
Publisher: Springer Nature
Release Date : 2021-10-19
Intelligent Robotics And Applications written by Xin-Jun Liu and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2021-10-19 with Computers categories.
The 4-volume set LNAI 13013 – 13016 constitutes the proceedings of the 14th International Conference on Intelligent Robotics and Applications, ICIRA 2021, which took place in Yantai, China, during October 22-25, 2021. The 299 papers included in these proceedings were carefully reviewed and selected from 386 submissions. They were organized in topical sections as follows: Robotics dexterous manipulation; sensors, actuators, and controllers for soft and hybrid robots; cable-driven parallel robot; human-centered wearable robotics; hybrid system modeling and human-machine interface; robot manipulation skills learning; micro_nano materials, devices, and systems for biomedical applications; actuating, sensing, control, and instrumentation for ultra-precision engineering; human-robot collaboration; robotic machining; medical robot; machine intelligence for human motion analytics; human-robot interaction for service robots; novel mechanisms, robots and applications; space robot and on-orbit service; neural learning enhanced motion planning and control for human robot interaction; medical engineering.
Handbook Of Robotic Surgery
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Author : Stênio de Cássio Zequi
language : en
Publisher: Elsevier
Release Date : 2024-10-02
Handbook Of Robotic Surgery written by Stênio de Cássio Zequi and has been published by Elsevier this book supported file pdf, txt, epub, kindle and other format this book has been release on 2024-10-02 with Computers categories.
Handbook of Robotic Surgery serves as a primer covering the main areas of knowledge in robotic surgery. This comprehensive book provides essential information on all aspects related to robotic surgery, from the present up to the future. The discussion presented in sections ranges from the historical background of robotic surgery up to more recent and future technological innovations such as remote controls, surgically distant collaboration, simulators, modern surgical robotics, fluorescence-guided surgery, and virtual reality. The book also contains sections dedicated to the safety conditions in surgery and patient protection, which will be suitable for surgeons, health professionals, biomedical engineering professionals, healthcare administrators, and students. There are specific chapters for all areas in which robotic surgery has been used in daily clinical practice or is under development. - Written by doctors, engineers, and nurses, thus eliminating communication barriers and making it accessible for health and engineering professionals - Provides initial literature offering a broad overview of all aspects of robotic surgery that will serve as a solid theoretical base for future developments in robotic subfields - Analyzes cost-effectiveness of robotic surgery, discussing its use in developing countries, ethics, medical-legal aspects, education, training, mentorship, leadership, certification of professionals, and credentialing of robotic centers - Contributed to by key opinion leaders from several nations and continents, taking into account different socioeconomic and cultural regional realities which can influence the widespread use of robotic surgery in the world
Ai Based Robot Safe Learning And Control
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Author : Xuefeng Zhou
language : en
Publisher: Springer Nature
Release Date : 2020-06-02
Ai Based Robot Safe Learning And Control written by Xuefeng Zhou and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2020-06-02 with Technology & Engineering categories.
This open access book mainly focuses on the safe control of robot manipulators. The control schemes are mainly developed based on dynamic neural network, which is an important theoretical branch of deep reinforcement learning. In order to enhance the safety performance of robot systems, the control strategies include adaptive tracking control for robots with model uncertainties, compliance control in uncertain environments, obstacle avoidance in dynamic workspace. The idea for this book on solving safe control of robot arms was conceived during the industrial applications and the research discussion in the laboratory. Most of the materials in this book are derived from the authors’ papers published in journals, such as IEEE Transactions on Industrial Electronics, neurocomputing, etc. This book can be used as a reference book for researcher and designer of the robotic systems and AI based controllers, and can also be used as a reference book for senior undergraduate and graduate students in colleges and universities.