Advanced Robotics: Redundancy and Optimization

Citation

(1999), "Advanced Robotics: Redundancy and Optimization", Industrial Robot, Vol. 26 No. 4. https://doi.org/10.1108/ir.1999.04926dae.001

Advanced Robotics: Redundancy and Optimization

Advanced Robotics: Redundancy and Optimization

Y. NakamuraAddison-Wesley1991337 pp.ISBN 0-201-15198-7£63.50

This book is an advanced text which requires the reader to have previous knowledge of robot kinematics and dynamics. There are two distinct goals of the book, the first being to establish a comprehensive methodological perspective for the mathematical optimisation techniques used in the field.

After an introductory chapter, chapter 2 gives details of numerous mathematical optimisation techniques including derivatives of vectors, matrices and their functions, singular value decomposition (SVD) of matrices, generalised inverse and pseudo-inverse (Moore-Penrose inverse), variational methods and Pontryagin's Maximum Principle. Chapter 3 discusses differential kinematics and redundancy.

Chapters 4 to 11 provide research applications as to how the mathematical optimisation techniques can be applied. Topics covered include local and global optimisation of kinematic redundancy, singularity ­ robust inverse of Jacobian matrix, redundancy in multi-axis force sensing and geometric optimisation for sensor fusion.

The author of the book highlights the fact that although these chapters cover a range of topics, they do not provide a balanced perspective into robot redundancy and optimisation.

Although some of the mathematical techniques covered in the text may initially appear daunting, they are explained quite clearly. Overall this is a well written book which initially includes numerous photographic examples of mechanically redundant robots.