声明
Chapter1 Introduction
1.1 Motivation
1.2 Objective and Major Contribution
1.3 Thesis Overview
Chapter2 Theory
2.1 Introduction
2.2 Mehrotra Interior Point Method
2.3 Linear Solver and Scientiifc Computing
2.4 Summarization
Chapter3 Optimization based Inverse Kinematics and its Enhancement
3.1 Introduction
3.2 Problem Formulation
3.3 Interior Point Method for QCQP Calculation
3.4 A Mixed Frontal-Leftlooking Cholesky Method on a CPU-GPU system for QCQP problems of Layered Manipulators
3.5 Summarization
Chapter4 Simulation on a Longeron Actuated Module
4.1 Introduction
4.2 Kinematics and Dynamics
4.3 Simulation on LAM
4.4 Summary
Chapter5 Simulation on a Hyper-redundant Variable Geometry Trussarm
5.1 Introduction
5.2 Kinematics
5.3 General Formulation of the Inverse Kinematics of a N-Module Variable Geometry Trussarm
5.4 Point-to-Point Trajectory Planning
5.5 Summarization
Chapter6 Simulation on a Binary Manipulator
6.1 Introduction
6.2 Description of a Binary Manipulator
6.3 Multi-Objective Optimization Approach for the Inverse Kinematics Problem
6.4 Summarization
Chapter7 Conclusions and Future Work
7.1 Conclusions
7.2 Future Works
Appendix A Codes
参考文献
致谢
Publications