Time-Optimal Trajectory Planning for Redundant Robots: Joint Space Decomposition for Redundancy Resolution in Non-Linear Optimization by Alexander Reiter (Paperback, 2016)
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.
Product Identifiers
Publisher
Springer Fachmedien Wiesbaden
ISBN-13
9783658127008
eBay Product ID (ePID)
221440358
Product Key Features
Subject Area
Material Science, Mechanical Engineering
Author
Alexander Reiter
Publication Name
Time-Optimal Trajectory Planning for Redundant Robots: Joint Space Decomposition for Redundancy Resolution in Non-Linear Optimization
Format
Paperback
Language
English
Subject
Engineering & Technology
Publication Year
2016
Type
Textbook
Number of Pages
90 Pages
Dimensions
Item Height
210mm
Item Width
148mm
Item Weight
1507g
Additional Product Features
Title_Author
Alexander Reiter
Series Title
Bestmasters
Country/Region of Manufacture
Germany
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