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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...

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...

In recent times, robotics has attracted considerable attention in scientific researches and engineering applications. Much effort has been contributed to robotics and different types of robots have thus been developed and investigated. Among these robots, redundant robot manipulators have played an important role in numerous fields of engineering applications in industrial automation for performing repetitive dull work, such as welding, painting and assembly. For a redundant robot manipulator, it possesses more degrees-of-freedom (DOF) than the minimum number of DOF required to perform a...

Neural networks and neural dynamics are powerful approaches for the online solution of mathematical problems arising in many areas of science, engineering, and business. Compared with conventional gradient neural networks that only deal with static problems of constant coefficient matrices and vectors, the authors new method called zeroing dynamics solves time-varying problems.

Zeroing Dynamics, Gradient Dynamics, and Newton Iterations is the first book that shows how to accurately and efficiently solve time-varying problems in real-time or online using continuous-...