Springer Vieweg
Time-Optimal Trajectory Planning for Redundant Robots: Joint Space Decomposition for Redundancy Resolution in Non-Linear Optimization
Product Code:
9783658127008
ISBN13:
9783658127008
Condition:
New
$61.47
Time-Optimal Trajectory Planning for Redundant Robots: Joint Space Decomposition for Redundancy Resolution in Non-Linear Optimization
$61.47
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.
| Author: Alexander Reiter |
| Publisher: Springer Vieweg |
| Publication Date: Mar 22, 2016 |
| Number of Pages: 90 pages |
| Binding: Paperback or Softback |
| ISBN-10: 3658127007 |
| ISBN-13: 9783658127008 |
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