Time-Optimal Trajectory Planning for Redundant Robots
Joint Space Decomposition for Redundancy Resolution in Non-Linear Optimization
(Sprache: Englisch)
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....
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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.Inhaltsverzeichnis zu „Time-Optimal Trajectory Planning for Redundant Robots “
NURBS Curves.- Modeling:Kinematics and Dynamics of Redundant Robots.- Approaches to Minimum-TimeTrajectory Planning.- Joint Space Decomposition Approach.- Examples for Applicationsof Robots.
Autoren-Porträt von Alexander Reiter
Alexander Reiter is aSenior Scientist at the Institute of Robotics of the Johannes Kepler UniversityLinz in Austria. His major fields of research are kinematics, dynamics, andtrajectory planning for kinematically redundant serial robots.
Bibliographische Angaben
- Autor: Alexander Reiter
- 2016, 1st ed. 2016, XV, 90 Seiten, Maße: 14,8 x 21 cm, Kartoniert (TB), Englisch
- Verlag: Springer, Berlin
- ISBN-10: 3658127007
- ISBN-13: 9783658127008
- Erscheinungsdatum: 22.03.2016
Sprache:
Englisch
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