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- Author: Alexander Reiter
- Publisher: Springer Vieweg
- Year: 2016
- Pages: 90
- ISBN-10: 3658127007
- ISBN-13: 9783658127008
- Format: 14.8 x 21 x 0.7 cm, softcover
- Language: English
- SAVE -10% with code: EXTRA
Time-Optimal Trajectory Planning for Redundant Robots (e-book) (used book) | bookbook.eu
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Description
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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- Author: Alexander Reiter
- Publisher: Springer Vieweg
- Year: 2016
- Pages: 90
- ISBN-10: 3658127007
- ISBN-13: 9783658127008
- Format: 14.8 x 21 x 0.7 cm, softcover
- Language: English English
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.
Reviews