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Optimal Inverse Kinematics and Rapid Solution Approximation
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Table of contents (6 chapters)
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Front Matter
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Back Matter
About this book
Alexander Reiter describes optimal path and trajectory planning for serial robots in general, and rigorously treats the challenging application of path tracking for kinematically redundant manipulators therein in particular. This is facilitated by resolving both the path tracking task and the optimal inverse kinematics problem simultaneously. Furthermore, the author presents methods for fast computation of approximate optimal solutions to planning problems with changing parameters. With an optimal solution to a nominal problem, an iterative process based on parametric sensitivities is applied to rapidly obtain an approximate solution.
About the Author:
Dr. Alexander Reiter is a senior scientist at the Institute of Robotics of the Johannes Kepler University (JKU) Linz, Austria. His major fields of research are kinematics, dynamics, and trajectory planning for kinematically redundant serial robots as well as real-time methods for solving parametric non-linear programming problems.
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Authors and Affiliations
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Johannes Kepler University Linz, Linz, Austria
Alexander Reiter
About the author
Dr. Alexander Reiter is a senior scientist at the Institute of Robotics of the Johannes Kepler University (JKU) Linz, Austria. His major fields of research are kinematics, dynamics, and trajectory planning for kinematically redundant serial robots as well as real-time methods for solving parametric non-linear programming problems.
Bibliographic Information
Book Title: Optimal Path and Trajectory Planning for Serial Robots
Book Subtitle: Inverse Kinematics for Redundant Robots and Fast Solution of Parametric Problems
Authors: Alexander Reiter
DOI: https://doi.org/10.1007/978-3-658-28594-4
Publisher: Springer Vieweg Wiesbaden
eBook Packages: Intelligent Technologies and Robotics, Intelligent Technologies and Robotics (R0)
Copyright Information: Springer Fachmedien Wiesbaden GmbH, part of Springer Nature 2020
Softcover ISBN: 978-3-658-28593-7Published: 21 November 2019
eBook ISBN: 978-3-658-28594-4Published: 06 November 2019
Edition Number: 1
Number of Pages: XX, 191
Number of Illustrations: 25 b/w illustrations, 8 illustrations in colour
Topics: Robotics and Automation, Mathematical and Computational Engineering