Skip to Main Content
Skip Nav Destination

Robot Manipulator Redundancy Resolution

By
Yunong Zhang
Yunong Zhang
Search for other works by this author on:
Long Jin
Long Jin
Search for other works by this author on:
ISBN:
9781119381235
No. of Pages:
318
Publisher:
ASME-Wiley
Publication date:
2017

Given they have more DOF than required to perform a given end-effector primary task, redundant robot manipulators can achieve subtasks such as obstacle avoidance, fault tolerance, repetitive motion planning, joint limits, and singularity avoidance. Existing optimal control methods for path planning and control of robot manipulators can be roughly categorized into two types: First, optimal control methods that can handle each robot link separately without regard to robot dynamics by computing set points for low-level (e.g., position- or velocity-level) single-input single-output controllers; Second, optimal control methods that can handle the robot directly by considering robot dynamics and computing motor torques...

14.1
Introduction
14.2
Preliminaries and Scheme Formulation
14.3
Computer Simulations
14.4
Physical Experiments
14.5
Chapter Summary
This content is only available via PDF.
You do not currently have access to this chapter.
Close Modal

or Create an Account

Close Modal
Close Modal