Cover

Title Page

Copyright

Dedication

Contents

List of Figures

List of Tables

Preface

Acknowledgments

Acronyms

Part I Pseudoinverse-Based ZD Approach

Chapter 1 Redundancy Resolution via Pseudoinverse and ZD Models

1.1 Introduction

1.2 Problem Formulation and ZD Models

1.2.1 Problem Formulation

1.2.2 Continuous-Time ZD Model

1.2.3 Discrete-Time ZD Models

1.2.3.1 Euler-Type DTZD Model with J(t) Known

1.2.3.2 Euler-Type DTZD Model with J™(t) Unknown

1.2.3.3 Taylor-Type DTZD Models

1.3 ZD Applications to Different-Type Robot Manipulators

1.3.1 Application to a Five-Link Planar Robot Manipulator

1.3.2 Application to a Three-Link Planar Robot Manipulator

1.4 Chapter Summary

Part II Inverse-Free Simple Approach

Chapter 2 G1 Type Scheme to JVL Inverse Kinematics

2.1 Introduction

2.2 Preliminaries and Related Work

2.3 Scheme Formulation

2.4 Computer Simulations

2.4.1 Square-Path Tracking Task

2.4.2 "Z"-Shaped Path Tracking Task

2.5 Physical Experiments

2.6 Chapter Summary

Chapter 3 D1G1 Type Scheme to JAL Inverse Kinematics

3.1 Introduction

3.2 Preliminaries and Related Work

3.3 Scheme Formulation

3.4 Computer Simulations

3.4.1 Rhombus-Path Tracking Task

3.4.1.1 Verifications

3.4.1.2 Comparisons

3.4.2 Triangle-Path Tracking Task

3.5 Chapter Summary

Chapter 4 Z1G1 Type Scheme to JAL Inverse Kinematics

4.1 Introduction

4.2 Problem Formulation and Z1G1 Type Scheme

4.3 Computer Simulations

4.3.1 Desired Initial Position

4.3.1.1 Isosceles-Trapezoid Path Tracking

4.3.1.2 Isosceles-Triangle Path Tracking

4.3.1.3 Square Path Tracking

4.3.2 Nondesired Initial Position

4.4 Physical Experiments

4.5 Chapter Summary

Part III QP Approach and Unification

Chapter 5 Redundancy Resolution via QP Approach and Unification

5.1 Introduction

5.2 Robotic Formulation

5.3 Handling Joint Physical Limits

5.3.1 Joint-Velocity Level

5.3.2 Joint-Acceleration Level

5.4 Avoiding Obstacles

5.5 Various Performance Indices

5.5.1 Resolved at Joint-Velocity Level

5.5.1.1 MVN scheme

5.5.1.2 RMP scheme

5.5.1.3 MKE scheme

5.5.2 Resolved at Joint-Acceleration Level

5.5.2.1 MAN scheme

5.5.2.2 MTN scheme

5.5.2.3 IIWT scheme

5.6 Unified QP Formulation

5.7 Online QP Solutions

5.7.1 Traditional QP Routines

5.7.2 Compact QP Method

5.7.3 Dual Neural Network

5.7.4 LVI-Aided Primal-Dual Neural Network

5.7.5 Numerical Algorithms E47 and 94LVI

5.7.5.1 Numerical Algorithm E47

5.7.5.2 Numerical Algorithm 94LVI

5.8 Computer Simulations

5.9 Chapter Summary

Part IV Illustrative JVL QP Schemes and Performances

Chapter 6 Varying Joint-Velocity Limits Handled by QP

6.1 Introduction

6.2 Preliminaries and Problem Formulation

6.2.1 Six-DOF Planar Robot System

6.2.2 Varying Joint-Velocity Limits

6.3 94LVI Assisted QP Solution

6.4 Computer Simulations and Physical Experiments

6.4.1 Line-Segment Path-Tracking Task

6.4.2 Elliptical-Path Tracking Task

6.4.3 Simulations with Faster Tasks

6.4.3.1 Line-Segment-Path-Tracking Task

6.4.3.2 Elliptical-Path-Tracking Task

6.5 Chapter Summary

Chapter 7 Feedback-Aided Minimum Joint Motion

7.1 Introduction

7.2 Preliminaries and Problem Formulation

7.2.1 Minimum Joint Motion Performance Index

7.2.2 Varying Joint-Velocity Limits

7.3 Computer Simulations and Physical Experiments

7.3.1 "M"-Shaped Path-Tracking Task

7.3.1.1 Simulation Comparisons with Different 𝜿p

7.3.1.2 Simulation Comparisons with Different 𝜸

7.3.1.3 Simulative and Experimental Verifications of FAMJM Scheme

7.3.2 "P"-Shaped Path Tracking Task

7.3.3 Comparisons with Pseudoinverse-Based Approach

7.3.3.1 Comparison with Tracking Task of Larger "M"-Shaped Path

7.3.3.2 Comparison with Tracking Task of Larger "P"-Shaped Path

7.4 Chapter Summary

Chapter 8 QP Based Manipulator State Adjustment

8.1 Introduction

8.2 Preliminaries and Scheme Formulation

8.3 QP Solution and Control of Robot Manipulator

8.4 Computer Simulations and Comparisons

8.4.1 State Adjustment without ZIV Constraint

8.4.2 State Adjustment with ZIV Constraint

8.5 Physical Experiments

8.6 Chapter Summary

Part V Self-Motion Planning

Chapter 9 QP-Based Self-Motion Planning

9.1 Introduction

9.2 Preliminaries and QP Formulation

9.2.1 Self-Motion Criterion

9.2.2 QP Formulation

9.3 LVIAPDNN Assisted QP Solution

9.4 PUMA560 Based Computer Simulations

9.4.1 From Initial Configuration A to Desired Configuration B

9.4.2 From Initial Configuration A to Desired Configuration C

9.4.3 From Initial Configuration E to Desired Configuration F

9.5 PA10 Based Computer Simulations

9.6 Chapter Summary

Chapter 10 Pseudoinverse Method and Singularities Discussed

10.1 Introduction

10.2 Preliminaries and Scheme Formulation

10.2.1 Modified Performance Index for SMP

10.2.2 QP-Based SMP Scheme Formulation

10.3 LVIAPDNN Assisted QP Solution with Discussion

10.4 Computer Simulations

10.4.1 Three-Link Redundant Planar Manipulator

10.4.1.1 Verifications

10.4.1.2 Comparisons

10.4.2 PUMA560 Robot Manipulator

10.4.3 PA10 Robot Manipulator

10.5 Chapter Summary

Appendix

Equivalence Analysis in Limit Situation

Chapter 11 Self-Motion Planning with ZIV Constraint

11.1 Introduction

11.2 Preliminaries and Scheme Formulation

11.2.1 Handling Joint Physical Limits

11.2.2 QP Reformulation

11.2.3 Design of ZIV Constraint

11.3 E47 Assisted QP Solution

11.4 Computer Simulations and Physical Experiments

11.5 Chapter Summary

Part VI Manipulability Maximization

Chapter 12 Manipulability-Maximizing SMP Scheme

12.1 Introduction

12.2 Scheme Formulation

12.2.1 Derivation of Manipulability Index

12.2.2 Handling Physical Limits

12.2.3 QP Formulation

12.3 Computer Simulations and Physical Experiments

12.3.1 Computer Simulations

12.3.2 Physical Experiments

12.4 Chapter Summary

Chapter 13 Time-Varying Coefficient Aided MM Scheme

13.1 Introduction

13.2 Manipulability-Maximization with Time-Varying Coefficient

13.2.1 Nonzero Initial/Final Joint-Velocity Problem

13.2.2 Scheme Formulation

13.2.3 94LVI Assisted QP Solution

13.3 Computer Simulations and Physical Experiments

13.3.1 Computer Simulations

13.3.2 Physical Experiments

13.4 Chapter Summary

Part VII Encoder Feedback and Joystick Control

Chapter 14 QP Based Encoder Feedback Control

14.1 Introduction

14.2 Preliminaries and Scheme Formulation

14.2.1 Joint Description

14.2.2 OMPFC Scheme

14.3 Computer Simulations

14.3.1 Petal-Shaped Path-Tracking Task

14.3.2 Comparative Simulations

14.3.2.1 Petal-Shaped Path Tracking Using Another Group of Joint-Angle Limits

14.3.2.2 Petal-Shaped Path Tracking via the Method 4 (M4) Algorithm

14.3.3 Hexagonal-Path-Tracking Task

14.4 Physical Experiments

14.5 Chapter Summary

Chapter 15 QP Based Joystick Control

15.1 Introduction

15.2 Preliminaries and Hardware System

15.2.1 Velocity-Specified Inverse Kinematics Problem

15.2.2 Joystick-Controlled Manipulator Hardware System

15.3 Scheme Formulation

15.3.1 Cosine-Aided Position-to-Velocity Mapping

15.3.2 Real-Time Joystick-Controlled Motion Planning

15.4 Computer Simulations and Physical Experiments

15.4.1 Movement Toward Four Directions

15.4.2 "MVN" Letter Writing

15.5 Chapter Summary

References

Index

EULA