Text

Time-Optimal Trajectory Planning for Redundant Robots Joint Space Decomposition for Redundancy Resolution in Non-Linear Optimization

---

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.

---

Availability

No copy data

Detail Information

Series Title

-

Call Number

-

Publisher

Springer Fachmedien Wiesbaden : Springer Vieweg Wiesbaden., 2016

Collation

-

Language

English

ISBN/ISSN

978-3-658-12701-5

Classification

NONE

Content Type

text

Media Type

computer

Carrier Type

online resource

Edition

-

Subject(s)

Control, Robotics
Mechatronics,
Mathematical and Computational Engineering
Theoretical and Applied Mechanics

Specific Detail Info

-

Statement of Responsibility

Alexander Reiter

Other Information

Cataloger

Yudi

Source

-

Validator

-

Digital Object Identifier (DOI)

-

Journal Volume

-

Journal Issue

-

Subtitle

-

Parallel Title

-

Other version/related

File Attachment

Comments

---

You must be logged in to post a comment