Robot Manipulator Redundancy Resolution

Introduces a revolutionary, quadratic-programming based approach to solving long-standing problems in motion planning and control of redundant manipulators

This book describes a novel quadratic programming approach to solving redundancy resolutions problems with redundant manipulators. Known as ``QP-unified motion planning and control of redundant manipulators'' theory, it systematically solves difficult optimization problems of inequality-constrained motion planning and control of redu ...