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Time-Optimal Trajectory Planning for Redundant Robots
Alexander Reiter
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Description for Time-Optimal Trajectory Planning for Redundant Robots
Paperback. Series: BestMasters. Num Pages: 105 pages, 35 black & white illustrations, 5 black & white tables, biography. BIC Classification: TBJ; TGMD; TJFM. Category: (G) General (US: Trade). Dimension: 210 x 148 x 7. Weight in Grams: 154.
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. ... Read more
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. ... Read more
Product Details
Format
Paperback
Publication date
2016
Publisher
Springer Fachmedien Wiesbaden Germany
Number of pages
105
Condition
New
Series
BestMasters
Number of Pages
90
Place of Publication
Weisbaden, Germany
ISBN
9783658127008
SKU
V9783658127008
Shipping Time
Usually ships in 15 to 20 working days
Ref
99-15
About 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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