Title Page; Copyright; Dedication; Table of Contents; List of Figures; List of Tables; Preface; Acknowledgments; Acronyms; Part I: Pseudoinverse-Based ZD Approach; Chapter 1: Redundancy Resolution via Pseudoinverse and ZD Models; 1.1 Introduction; 1.2 Problem Formulation and ZD Models; 1.3 ZD Applications to Different-Type Robot Manipulators; 1.4 Chapter Summary; Part II: Inverse-Free Simple Approach; Chapter 2: G1 Type Scheme to JVL Inverse Kinematics; 2.1 Introduction; 2.2 Preliminaries and Related Work; 2.3 Scheme Formulation; 2.4 Computer Simulations; 2.5 Physical Experiments2.6 Chapter SummaryChapter 3: D1G1 Type Scheme to JAL Inverse Kinematics; 3.1 Introduction; 3.2 Preliminaries and Related Work; 3.3 Scheme Formulation; 3.4 Computer Simulations; 3.5 Chapter Summary; Chapter 4: Z1G1 Type Scheme to JAL Inverse Kinematics; 4.1 Introduction; 4.2 Problem Formulation and Z1G1 Type Scheme; 4.3 Computer Simulations; 4.4 Physical Experiments; 4.5 Chapter Summary; Part III: QP Approach and Unification; Chapter 5: Redundancy Resolution via QP Approach and Unification; 5.1 Introduction; 5.2 Robotic Formulation; 5.3 Handling Joint Physical Limits; 5.4 Avoiding Obstacles5.5 Various Performance Indices5.6 Unified QP Formulation; 5.7 Online QP Solutions; 5.8 Computer Simulations; 5.9 Chapter Summary; Part IV: Illustrative JVL QP Schemes and Performances; Chapter 6: Varying Joint-Velocity Limits Handled by QP; 6.1 Introduction; 6.2 Preliminaries and Problem Formulation; 6.3 94LVI Assisted QP Solution; 6.4 Computer Simulations and Physical Experiments; 6.5 Chapter Summary; Chapter 7: Feedback-Aided Minimum Joint Motion; 7.1 Introduction; 7.2 Preliminaries and Problem Formulation; 7.3 Computer Simulations and Physical Experiments; 7.4 Chapter SummaryChapter 8: QP Based Manipulator State Adjustment8.1 Introduction; 8.2 Preliminaries and Scheme Formulation; 8.3 QP Solution and Control of Robot Manipulator; 8.4 Computer Simulations and Comparisons; 8.5 Physical Experiments; 8.6 Chapter Summary; Part V: Self-Motion Planning; Chapter 9: QP-Based Self-Motion Planning; 9.1 Introduction; 9.2 Preliminaries and QP Formulation; 9.3 LVIAPDNN Assisted QP Solution; 9.4 PUMA560 Based Computer Simulations; 9.5 PA10 Based Computer Simulations; 9.6 Chapter Summary; Chapter 10: Pseudoinverse Method and Singularities Discussed; 10.1 Introduction10.2 Preliminaries and Scheme Formulation10.3 LVIAPDNN Assisted QP Solution with Discussion; 10.4 Computer Simulations; 10.5 Chapter Summary; Appendix; Chapter 11: Self-Motion Planning with ZIV Constraint; 11.1 Introduction; 11.2 Preliminaries and Scheme Formulation; 11.3 E47 Assisted QP Solution; 11.4 Computer Simulations and Physical Experiments; 11.5 Chapter Summary; Part VI: Manipulability Maximization; Chapter 12: Manipulability-Maximizing SMP Scheme; 12.1 Introduction; 12.2 Scheme Formulation; 12.3 Computer Simulations and Physical Experiments; 12.4 Chapter Summary