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Time-Optimal Trajectory Planning for Redundant Robots: Joint Space Decomposition for Redundancy Resolution in Non-Linear Optimization - Brossura
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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.
Le informazioni nella sezione "Riassunto" possono far riferimento a edizioni diverse di questo titolo.
Informazioni sull?autore
Alexander Reiter is aSenior Scientist at the Institute of Robotics of the Johannes Kepler UniversityLinz in Austria. His major fields of research are kinematics, dynamics, andtrajectory planning for kinematically redundant serial robots.
Dalla quarta di copertina
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 redundancycan be fully exploited to achieve minimum-time trajectories for prescribed end-effector paths.
Contents
- NURBS Curves
- Modeling: Kinematics and Dynamics of RedundantRobots
- Approaches to Minimum-Time TrajectoryPlanning
- Joint Space Decomposition Approach
- Examples for Applications of Robots
- Lecturers and Students of Robotics andAutomation
- Industrial Developers of TrajectoryPlanning Algorithms
The Author
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.Le informazioni nella sezione "Su questo libro" possono far riferimento a edizioni diverse di questo titolo.
- EditoreSpringer Vieweg
- Data di pubblicazione2016
- ISBN 10 3658127007
- ISBN 13 9783658127008
- RilegaturaCopertina flessibile
- LinguaInglese
- Numero edizione1
- Numero di pagine108
- Contatto del produttorenon disponibile
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Time-Optimal Trajectory Planning for Redundant Robots
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Springer Fachmedien Wiesbaden, 2016
ISBN 10: 3658127007
ISBN 13: 9783658127008
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Kartoniert / Broschiert. Condizione: New. Dieser Artikel ist ein Print on Demand Artikel und wird nach Ihrer Bestellung fuer Sie gedruckt. Study in RoboticsAlexander Reiter is aSenior Scientist at the Institute of Robotics of the Johannes Kepler UniversityLinz in Austria. His major fields of research are kinematics, dynamics, andtrajectory planning for kinematically redundant serial rob. Codice articolo 112484667
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Taschenbuch. Condizione: Neu. This item is printed on demand - it takes 3-4 days longer - Neuware -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. 108 pp. Englisch. Codice articolo 9783658127008
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Time-Optimal Trajectory Planning for Redundant Robots : Joint Space Decomposition for Redundancy Resolution in Non-Linear Optimization
Editore:
Springer Fachmedien Wiesbaden, 2016
ISBN 10: 3658127007
ISBN 13: 9783658127008
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Taschenbuch. Condizione: Neu. Druck auf Anfrage Neuware - Printed after ordering - 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. Codice articolo 9783658127008
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Time-Optimal Trajectory Planning for Redundant Robots
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Taschenbuch. Condizione: Neu. Neuware -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.Springer Vieweg in Springer Science + Business Media, Abraham-Lincoln-Straße 46, 65189 Wiesbaden 108 pp. Englisch. Codice articolo 9783658127008
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