Time-Optimal Trajectory Planning for Redun...

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Sprache: Englisch

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Beschreibung

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.

Über den Autor

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.

Zusammenfassung

Study in Robotics

Includes supplementary material: [...]

Inhaltsverzeichnis

NURBS Curves.- Modeling:
Kinematics and Dynamics of Redundant Robots.- Approaches to Minimum-Time
Trajectory Planning.- Joint Space Decomposition Approach.- Examples for Applications
of Robots.

Details

Erscheinungsjahr:	2016
Fachbereich:	Nachrichtentechnik
Genre:	Mathematik , Medizin , Naturwissenschaften , Technik
Rubrik:	Naturwissenschaften & Technik
Medium:	Taschenbuch
Inhalt:	xv 90 S. 35 s/w Illustr. 90 p. 35 illus.
ISBN-13:	9783658127008
ISBN-10:	3658127007
Sprache:	Englisch
Herstellernummer:	978-3-658-12700-8
Einband:	Kartoniert / Broschiert
Autor:	Reiter, Alexander
Auflage:	1st edition 2016
Hersteller:	Springer Fachmedien Wiesbaden Springer Fachmedien Wiesbaden GmbH
Verantwortliche Person für die EU:	Springer Vieweg in Springer Science + Business Media, Abraham-Lincoln-Str. 46, D-65189 Wiesbaden, juergen.hartmann@springer.com
Maße:	210 x 148 x 7 mm
Von/Mit:	Alexander Reiter
Erscheinungsdatum:	22.03.2016
Gewicht:	0,152 kg