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

Alexander Reiter

ISBN 10: 3658127007 / ISBN 13: 9783658127008

Edité par Springer Fachmedien Wiesbaden, Springer Fachmedien Wiesbaden, 2016

A propos de cet article

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

Détails bibliographiques

• Titre: Time-Optimal Trajectory Planning for Redundant Robots : Joint Space Decomposition for Redundancy Resolution in Non-Linear Optimization
• Éditeur: Springer Fachmedien Wiesbaden, Springer Fachmedien Wiesbaden
• Date de parution: 2016
• Langue: anglais
• ISBN à 10 chiffres: 3658127007
• ISBN à 13 chiffres: 9783658127008
• Reliure: Taschenbuch
• État de l'article: Neu
• Dimensions: 210 L x 148 H x 7 P (en millimètres) 210 millimètres de largeur par 148 millimètres de hauteur par 7 millimètres de profondeur
• Poids: 152 grammes

A propos de ce titre

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.

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.