Optimal Path and Trajectory Planning for Serial Robots

Inverse Kinematics for Redundant Robots and Fast Solution of Parametric Problems

Authors: Reiter, Alexander

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  • Optimal Inverse Kinematics and Rapid Solution Approximation

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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.

About the authors

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.

Table of contents (6 chapters)

Table of contents (6 chapters)

Buy this book

eBook $69.99
price for USA in USD
  • ISBN 978-3-658-28594-4
  • 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
Optimal Path and Trajectory Planning for Serial Robots
Book Subtitle
Inverse Kinematics for Redundant Robots and Fast Solution of Parametric Problems
Authors
Copyright
2020
Publisher
Springer Vieweg
Copyright Holder
Springer Fachmedien Wiesbaden GmbH, part of Springer Nature
eBook ISBN
978-3-658-28594-4
DOI
10.1007/978-3-658-28594-4
Softcover ISBN
978-3-658-28593-7
Edition Number
1
Number of Pages
XX, 191
Number of Illustrations
25 b/w illustrations, 8 illustrations in colour
Topics