000			05210cam a22006258i 4500
001			ocn984512183
003			OCoLC
005			20220711203403.0
006			m o d
007			cr |||||||||||
008			170425s2017 nju ob 001 0 eng
010			_a 2017019566
040			_aDLC _beng _erda _cDLC _dOCLCO _dOCLCF _dN$T _dDG1 _dYDX _dEBLCP _dIDEBK _dMERER
020			_a9781119381433 _q(electronic bk.)
020			_a1119381436 _q(electronic bk.)
020			_a9781119381440 _q(electronic bk.)
020			_a1119381444 _q(electronic bk.)
020			_z9781119381426
020			_z1119381428
020			_z9781119381235 (cloth)
035			_a(OCoLC)984512183
042			_apcc
050	1	0	_aTJ211.35
072		7	_aTEC _x009000 _2bisacsh
082	0	0	_a629.8/933 _223
049			_aMAIN
100	1		_aZhang, Yunong, _d1973- _eauthor. _97139
245	1	0	_aRobot manipulator redundancy resolution / _cYunong Zhang, Long Jin, Sun Yatsen University.
263			_a1711
264		1	_aHoboken, New Jersey : _bWiley, _c[2017]
300			_a1 online resource.
336			_atext _btxt _2rdacontent
337			_acomputer _bn _2rdamedia
338			_aonline resource _bnc _2rdacarrier
504			_aIncludes bibliographical references and index.
588			_aDescription based on print version record and CIP data provided by publisher; resource not viewed.
505	0		_aTitle Page; Copyright; Dedication; Table of 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; 1.3 ZD Applications to Different-Type Robot Manipulators; 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; 2.5 Physical Experiments
505	8		_a2.6 Chapter SummaryChapter 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; 3.5 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; 4.4 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; 5.4 Avoiding Obstacles
505	8		_a5.5 Various Performance Indices5.6 Unified QP Formulation; 5.7 Online QP Solutions; 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; 6.3 94LVI Assisted QP Solution; 6.4 Computer Simulations and Physical Experiments; 6.5 Chapter Summary; Chapter 7: Feedback-Aided Minimum Joint Motion; 7.1 Introduction; 7.2 Preliminaries and Problem Formulation; 7.3 Computer Simulations and Physical Experiments; 7.4 Chapter Summary
505	8		_aChapter 8: QP Based Manipulator State Adjustment8.1 Introduction; 8.2 Preliminaries and Scheme Formulation; 8.3 QP Solution and Control of Robot Manipulator; 8.4 Computer Simulations and Comparisons; 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; 9.3 LVIAPDNN Assisted QP Solution; 9.4 PUMA560 Based Computer Simulations; 9.5 PA10 Based Computer Simulations; 9.6 Chapter Summary; Chapter 10: Pseudoinverse Method and Singularities Discussed; 10.1 Introduction
505	8		_a10.2 Preliminaries and Scheme Formulation10.3 LVIAPDNN Assisted QP Solution with Discussion; 10.4 Computer Simulations; 10.5 Chapter Summary; Appendix; Chapter 11: Self-Motion Planning with ZIV Constraint; 11.1 Introduction; 11.2 Preliminaries and Scheme Formulation; 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; 12.3 Computer Simulations and Physical Experiments; 12.4 Chapter Summary
650		0	_aRobots _xControl systems. _93388
650		0	_aManipulators (Mechanism) _94857
650		0	_aRedundancy (Engineering) _97140
650		7	_aManipulators (Mechanism) _2fast _0(OCoLC)fst01007742 _94857
650		7	_aRedundancy (Engineering) _2fast _0(OCoLC)fst01092313 _97140
650		7	_aRobots _xControl systems. _2fast _0(OCoLC)fst01099044 _93388
650		7	_aTECHNOLOGY & ENGINEERING / Engineering (General) _2bisacsh _97141
655		4	_aElectronic books. _93294
700	1		_aJin, Long, _d1988- _eauthor. _97142
776	0	8	_iPrint version: _aZhang, Yunong, 1973- author. _tRobot manipulator redundancy resolution _dHoboken, New Jersey : Wiley, [2017] _z9781119381235 _w(DLC) 2017018502
856	4	0	_uhttps://doi.org/10.1002/9781119381440 _zWiley Online Library
942			_cEBK
994			_a92 _bDG1
999			_c68820 _d68820