Time-Optimal Trajectory Planning for Redundant Robots / BestMasters (PDF)
Joint Space Decomposition for Redundancy Resolution in Non-Linear Optimization
(Sprache: Englisch)
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....
sofort als Download lieferbar
eBook (pdf)
53.49 €
26 DeutschlandCard Punkte
sammeln
- Lastschrift, Kreditkarte, Paypal, Rechnung
- Kostenloser tolino webreader
Produktdetails
Produktinformationen zu „Time-Optimal Trajectory Planning for Redundant Robots / BestMasters (PDF)“
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.
Groups
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.
can be fully exploited to achieve minimum-time trajectories for prescribed end-effector paths.
Contents
- NURBS Curves
- Modeling: Kinematics and Dynamics of Redundant
Robots - Approachesto Minimum-Time Trajectory
Planning - Joint Space Decomposition Approach
- Examples for Applications of Robots
Groups
- Lecturers and Students of Robotics and
Automation - Industrial Developers of Trajectory
Planning 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.
Autoren-Porträt von Alexander Reiter
Alexander Reiter is aSenior 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.
Bibliographische Angaben
- Autor: Alexander Reiter
- 2016, 1st ed. 2016, 90 Seiten, Englisch
- Verlag: Vieweg+Teubner Verlag
- ISBN-10: 3658127015
- ISBN-13: 9783658127015
- Erscheinungsdatum: 11.03.2016
Abhängig von Bildschirmgröße und eingestellter Schriftgröße kann die Seitenzahl auf Ihrem Lesegerät variieren.
eBook Informationen
- Dateiformat: PDF
- Größe: 1.91 MB
- Ohne Kopierschutz
- Vorlesefunktion
Sprache:
Englisch
Kommentar zu "Time-Optimal Trajectory Planning for Redundant Robots / BestMasters"
0 Gebrauchte Artikel zu „Time-Optimal Trajectory Planning for Redundant Robots / BestMasters“
| Zustand | Preis | Porto | Zahlung | Verkäufer | Rating |
|---|
Schreiben Sie einen Kommentar zu "Time-Optimal Trajectory Planning for Redundant Robots / BestMasters".
Kommentar verfassen