BestMasters

Time-Optimal Trajectory Planning for Redundant Robots

Joint Space Decomposition for Redundancy Resolution in Non-Linear Optimization

Authors: Reiter, Alexander

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  • Study in Robotics

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  • ISBN 978-3-658-12701-5
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About this book

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

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)

Table of contents (6 chapters)

Buy this book

eBook $69.99
price for USA in USD
  • ISBN 978-3-658-12701-5
  • Digitally watermarked, DRM-free
  • Included format: PDF
  • ebooks can be used on all reading devices
  • Immediate eBook download after purchase
Softcover $89.99
price for USA in USD
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Bibliographic Information

Bibliographic Information
Book Title
Time-Optimal Trajectory Planning for Redundant Robots
Book Subtitle
Joint Space Decomposition for Redundancy Resolution in Non-Linear Optimization
Authors
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