Time-Optimal Trajectory Planning for Redundant Robots
Joint Space Decomposition for Redundancy Resolution in Non-Linear Optimization
Authors: Reiter, Alexander
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- About this book
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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.
- About the authors
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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.
- Table of contents (6 chapters)
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Introduction
Pages 1-3
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NURBS Curves
Pages 5-14
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Modeling: Kinematics and Dynamics of Redundant Robots
Pages 15-22
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Approaches to Minimum-Time Trajectory Planning
Pages 23-43
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Joint Space Decomposition Approach
Pages 45-51
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Table of contents (6 chapters)
- Download Preface 1 PDF (137 KB)
- Download Sample pages 1 PDF (337.2 KB)
- Download Table of contents PDF (171.8 KB)
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Bibliographic Information
- Bibliographic Information
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- Book Title
- Time-Optimal Trajectory Planning for Redundant Robots
- Book Subtitle
- Joint Space Decomposition for Redundancy Resolution in Non-Linear Optimization
- Authors
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- Alexander Reiter
- Series Title
- BestMasters
- Copyright
- 2016
- Publisher
- Springer Vieweg
- Copyright Holder
- Springer Fachmedien Wiesbaden
- eBook ISBN
- 978-3-658-12701-5
- DOI
- 10.1007/978-3-658-12701-5
- Softcover ISBN
- 978-3-658-12700-8
- Series ISSN
- 2625-3577
- Edition Number
- 1
- Number of Pages
- XV, 90
- Number of Illustrations
- 35 b/w illustrations
- Topics
