Time-Optimal Trajectory Planning for Redundant Robots
Joint Space Decomposition for Redundancy Resolution in Non-Linear Optimization
Published on 11. March 2016
XV, 90 pages
978-3-658-12701-5 (ISBN)
Description
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.
More details
Series
Edition
1st ed. 2016
Language
English
Place of publication
Wiesbaden
Germany
Publishing group
Springer Fachmedien Wiesbaden GmbH
Target group
Professional and scholarly
Illustrations
XV, 90 p. 35 illus.
File size
1,95 MB
ISBN-13
978-3-658-12701-5 (9783658127015)
DOI
10.1007/978-3-658-12701-5
Schweitzer Classification
Other editions
Additional editions
Alexander Reiter
Time-Optimal Trajectory Planning for Redundant Robots
Joint Space Decomposition for Redundancy Resolution in Non-Linear Optimization
Book
03/2016
Springer Vieweg
€53.49
Shipment within 10-15 days
Person
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.
Content
NURBS Curves.- Modeling: Kinematics and Dynamics of Redundant Robots.- Approaches to Minimum-Time Trajectory Planning.- Joint Space Decomposition Approach.- Examples for Applications of Robots.
