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Time-Optimal Trajectory Planning for Redundant Robots

Joint Space Decomposition for Redundancy Resolution in Non-Linear Optimization

  • Book
  • © 2016

Overview

Authors:
  1. Alexander Reiter

    1. Linz, Austria

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  • Study in Robotics
  • Includes supplementary material: sn.pub/extras

Part of the book series: BestMasters (BEST)

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Table of contents (6 chapters)

  1. Front Matter

    Pages I-XV
    Download chapter PDF

  2. Introduction

    • Alexander Reiter
    Pages 1-3

  3. NURBS Curves

    • Alexander Reiter
    Pages 5-14

  4. Modeling: Kinematics and Dynamics of Redundant Robots

    • Alexander Reiter
    Pages 15-22

  5. Approaches to Minimum-Time Trajectory Planning

    • Alexander Reiter
    Pages 23-43

  6. Joint Space Decomposition Approach

    • Alexander Reiter
    Pages 45-51

  7. Examples

    • Alexander Reiter
    Pages 53-85

  8. Back Matter

    Pages 87-90
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Keywords

About this book

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.

Authors and Affiliations

  • Linz, Austria

    Alexander Reiter

About 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.

Bibliographic Information

  • Book Title: Time-Optimal Trajectory Planning for Redundant Robots

  • Book Subtitle: Joint Space Decomposition for Redundancy Resolution in Non-Linear Optimization

  • Authors: Alexander Reiter

  • Series Title: BestMasters

  • DOI: https://doi.org/10.1007/978-3-658-12701-5

  • Publisher: Springer Vieweg Wiesbaden

  • eBook Packages: Engineering, Engineering (R0)

  • Copyright Information: Springer Fachmedien Wiesbaden 2016

  • Softcover ISBN: 978-3-658-12700-8Published: 22 March 2016

  • eBook ISBN: 978-3-658-12701-5Published: 11 March 2016

  • Series ISSN: 2625-3577

  • Series E-ISSN: 2625-3615

  • Edition Number: 1

  • Number of Pages: XV, 90

  • Number of Illustrations: 35 b/w illustrations

  • Topics: Control, Robotics, Mechatronics, Mathematical and Computational Engineering, Theoretical and Applied Mechanics

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