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


This masters 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.

eBook Details:
Category: Robotics
Author: Alexander Reiter
Press: Springer Vieweg
Language: English
ISBN10: 3658127007
ISBN13: 9783658127008
Pages: 90
PubDate: 2016-04-12 00:00:00
UploadDate: 6/1/2016 6:04:31 am

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