Time-optimal trajectory planning for redundant robots [electronic resource] : joint space decomposition for redundancy resolution in non-linear optimization / Alexander Reiter ; with a preface by Univ.-Prof. Dr.-Ing. habil. Andreas Müller.

Unlimited

Authorized users

Can lend chapters, not whole ebooks

Time-optimal trajectory planning for redundant robots [electronic resource] : joint space decomposition for redundancy resolution in non-linear optimization / Alexander Reiter ; with a preface by Univ.-Prof. Dr.-Ing. habil. Andreas Müller.

9783658127015 (electronic book)
3658127015 (electronic book)
9783658127008

Wiesbaden : Springer Vieweg, 2016.

English

1 online resource (xv, 90 pages) : illustrations.

10.1007/978-3-658-12701-5 doi

TJ211

629.8/92

This master's thesis presents a novel approach to finding trajectories with minimal end time for kinematically redundant manipulators. Emphasis is given to a general applicability of the developed method to industrial tasks such as gluing or welding. Minimum-time trajectories may yield economic advantages as a shorter trajectory duration results in a lower task cycle time. Whereas kinematically redundant manipulators possess increased dexterity, compared to conventional non-redundant manipulators, their inverse kinematics is not unique and requires further treatment. In this work a joint space decomposition approach is introduced that takes advantage of the closed form inverse kinematics solution of non-redundant robots. Kinematic redundancy can be fully exploited to achieve minimum-time trajectories for prescribed end-effector paths. Contents NURBS Curves Modeling: Kinematics and Dynamics of Redundant Robots Approaches to Minimum-Time Trajectory Planning Joint Space Decomposition Approach Examples for Applications of Robots Target Groups Lecturers and Students of Robotics and Automation Industrial Developers of Trajectory Planning Algorithms The Author Alexander Reiter is a Senior Scientist at the Institute of Robotics of the Johannes Kepler University Linz in Austria. His major fields of research are kinematics, dynamics, and trajectory planning for kinematically redundant serial robots.

Includes bibliographical references.

Access limited to authorized users.

Online resource; title from PDF title page (SpringerLink, viewed March 14, 2016).

BestMasters.

Print version: 9783658127008

Online Resources > Ebooks
All Resources