Repetitive Motion Planning and Control of Redundant Robot Manipulators - Hardcover

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Yunong Zhang received the B.S. degree from Huazhong University of Science and Technology, Wuhan, China, in 1996, the M.S. degree from South China University of Technology, Guangzhou, China, in 1999, and the Ph.D. degree from Chinese University of Hong Kong, Shatin, Hong Kong, China, in 2003. He is currently a professor at School of Data and Computer Science, Sun Yat-sen University, Guangzhou, China. Before joining Sun Yat-sen University in 2006, Yunong had been with National University of Singapore, University of Strathclyde, and National University of Ireland at Maynooth, since 2003. His main research interests include neural networks, robotics, computation and optimization. He has been working on the researches and applications of neural networks for 20 years. He has now published totally 562 scientific works of various types with the number of SCI citations being 2486 and the number of Google citations being 5560. These include 13 monographs/books, 153 SCI papers (with 72SCI papers published in recent 5 years), 43 IEEE-Transactions/ Magazine papers, 10 solely-authored works, and 426 first-authored works, crosswise. Yunong Zhang was supported by the Program for New Century Excellent Talents in Universities in 2007, was presented the Best Paper Award of ISSCAA in 2008 and the Best Paper Award of ICAL in 2011, and was among the Highly Cited Scholars of China selected and published by Elsevier from year 2014 to year 2018. Binbin Qiu received the B.S. degree from Jiangxi University of Science and Technology, Ganzhou, China, in 2013, and the Ph.D. degree from Sun Yat-sen University, Guangzhou, China, in 2018. He is currently a postdoctoral fellow at School of Data and Computer Science, Sun Yat-sen University, Guangzhou, China. His main research interests include neural dynamics/neural networks, nonlinear systems, and robotics. He has published/accepted over 45 scientific papers as author or co-author (including 15 SCI papers). Xiaodong Li received the B.S. degree from Shanxi Normal University, Xi'an, China, in 1987, the M.S. degree from Nanjing University of Science and Technology, Nanjing, China, in 1990, and the Ph.D. degree from City University of Hong Kong, Hong Kong, China, in 2007. He is currently a professor at School of Data and Computer Science, Sun Yat-sen University, Guangzhou, China. His main research interests include 2-D system theory, artificial intelligence and intelligent control.

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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 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.