Time-Optimal Trajectory Planning for Redundant Robots

1. Front Matter

   Pages I-XV

   PDF

2. Introduction

   • Alexander Reiter

   Pages 1-3

3. NURBS Curves

   • Alexander Reiter

   Pages 5-14

4. Modeling: Kinematics and Dynamics of Redundant Robots

   • Alexander Reiter

   Pages 15-22

5. Approaches to Minimum-Time Trajectory Planning

   • Alexander Reiter

   Pages 23-43

6. Joint Space Decomposition Approach

   • Alexander Reiter

   Pages 45-51

7. Examples

   • Alexander Reiter

   Pages 53-85

8. Back Matter

   Pages 87-90

   PDF

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.

• Robots
• Optimization
• Redundancy
• Kinematics
• Dynamics
• Mechatronics
• Redundanz
• Kinematik
• Industrieroboter
• Optimierung
• Mechatronik
• Dynamik

• Linz, Austria

  Alexander Reiter

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.

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