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Time-Optimal Trajectory Planning for Redundant Robots: Joint Space Decomposition for Redundancy Resolution in Non-Linear Optimization - Couverture souple
Synopsis
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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À propos de l?auteur
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.
Les informations fournies dans la section « A propos du livre » peuvent faire référence à une autre édition de ce titre.
- ÉditeurSpringer Vieweg
- Date d'édition2016
- ISBN 10 3658127007
- ISBN 13 9783658127008
- ReliureBroché
- Langueanglais
- Numéro d'édition1
- Nombre de pages108
- Coordonnées du fabricantnon disponible
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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. Etat : 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. N° de réf. du vendeur 112484667
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Time-Optimal Trajectory Planning for Redundant Robots : Joint Space Decomposition for Redundancy Resolution in Non-Linear Optimization
Edité par
Springer Fachmedien Wiesbaden, 2016
ISBN 10 : 3658127007
ISBN 13 : 9783658127008
Neuf
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Taschenbuch. Etat : 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. N° de réf. du vendeur 9783658127008
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Time-Optimal Trajectory Planning for Redundant Robots
Edité par
Springer Fachmedien Wiesbaden Mrz 2016, 2016
ISBN 10 : 3658127007
ISBN 13 : 9783658127008
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Vendeur : BuchWeltWeit Ludwig Meier e.K., Bergisch Gladbach, Allemagne
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Taschenbuch. Etat : 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. N° de réf. du vendeur 9783658127008
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Time-Optimal Trajectory Planning for Redundant Robots: Joint Space Decomposition for Redundancy Resolution in Non-Linear Optimization (BestMasters)
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Time-Optimal Trajectory Planning for Redundant Robots
ISBN 10 : 3658127007
ISBN 13 : 9783658127008
Neuf
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Taschenbuch. Etat : 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. N° de réf. du vendeur 9783658127008
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Time-Optimal Trajectory Planning for Redundant Robots : Joint Space Decomposition for Redundancy Resolution in Non-Linear Optimization
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Time-Optimal Trajectory Planning for Redundant Robots : Joint Space Decomposition for Redundancy Resolution in Non-Linear Optimization
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Time-optimal Trajectory Planning for Redundant Robots: Joint Space Decomposition for Redundancy Resolution in Non-linear Optimization
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Time-Optimal Trajectory Planning for Redundant Robots : Joint Space Decomposition for Redundancy Resolution in Non-Linear Optimization
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Time-Optimal Trajectory Planning for Redundant Robots: Joint Space Decomposition for Redundancy Resolution in Non-Linear Optimization (BestMasters)
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