Principle and Application of Redundant Degree of Freedom Robots

Author: Lu Zhen
Publisher:
Publish Date: 2007-01-01
Features: This book comprehensively introduces the theoretical foundation and practical applications of redundant degree-of-freedom (DOF) robots. The content is based on the author's research achievements in the field of redundant DOF robots, as well as teaching materials developed during graduate student training and teaching. The book is divided into 11 chapters, covering topics such as the fundamentals of redundant DOF robots, configuration, kinematics and dynamics, fault-tolerant control, flexible redundant DOF robots, underactuated redundant DOF robots, and redundancy issues in space robots. Following the principle of simplicity and depth, the book explains special theoretical problems of redundant DOF robots using accessible mathematical, mechanical, kinematic, and automatic control principles. During the writing process, it emphasizes the integration of mechanical and electrical systems, with a focus on ensuring the content aligns with the latest research findings both domestically and internationally... This book is suitable as a textbook or self-study reference for graduate students in mechatronics engineering, control theory and methods, and mechanical design and theory. It can also serve as a reference for engineers engaged in robot design and application, as well as in automated mechanical manufacturing... The book is divided into 11 chapters, covering main topics such as the fundamentals of redundant DOF robots, configuration, kinematics and dynamics, fault-tolerant control, flexible redundant DOF robots, underactuated redundant DOF robots, and redundancy issues in space robots.