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Time-Optimal Trajectory Planning for Redundant Robots

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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.

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Detail Information

Series Title

-

Call Number

-

Publisher

: ., 2016

Collation

35 b/w illustrations

Language

English

ISBN/ISSN

978-3-658-12701-5

Classification

NONE

Content Type

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Media Type

computer

Carrier Type

online resource

Edition

-

Subject(s)

Control
Automation
Engineering Mechanics

Specific Detail Info

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Statement of Responsibility

Alexander Reiter

Other Information

Cataloger

Yd

Source

-

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