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- DescriptionThis master's thesis presents a vel 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 ecomic advantages as a shorter trajectory duration results in a lower task cycle time. Whereas kinematically redundant manipulators possess increased dexterity, compared to conventional n-redundant manipulators, their inverse kinematics is t 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 n-redundant robots. Kinematic redundancy can be fully exploited to achieve minimum-time trajectories for prescribed end-effector paths.
- Author BiographyAlexander 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.
- Author(s)Alexander Reiter
- PublisherSpringer Fachmedien Wiesbaden
- Date of Publication12/03/2016
- Series TitleBestMasters
- Place of PublicationWeisbaden
- Country of PublicationGermany
- ImprintSpringer Vieweg
- Content Note35 black & white illustrations, 5 black & white tables, biography
- Weight154 g
- Width148 mm
- Height210 mm
- Spine7 mm
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