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Time-Optimal Trajectory Planning for Redundant Robots: Joint Space Decomposition for Redundancy Resolution in Non-Linear Optimization (BestMasters) - Softcover
Inhaltsangabe
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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Über die Autorin bzw. den Autor
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.
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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 redundancycan be fully exploited to achieve minimum-time trajectories for prescribed end-effector paths.
Contents
- NURBS Curves
- Modeling: Kinematics and Dynamics of RedundantRobots
- Approaches to Minimum-Time TrajectoryPlanning
- Joint Space Decomposition Approach
- Examples for Applications of Robots
- Lecturers and Students of Robotics andAutomation
- Industrial Developers of TrajectoryPlanning 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.„Über diesen Titel“ kann sich auf eine andere Ausgabe dieses Titels beziehen.
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Time-Optimal Trajectory Planning for Redundant Robots
Verlag:
Springer Fachmedien Wiesbaden, 2016
ISBN 10: 3658127007
ISBN 13: 9783658127008
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Kartoniert / Broschiert. Zustand: 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. Bestandsnummer des Verkäufers 112484667
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Time-Optimal Trajectory Planning for Redundant Robots
ISBN 10: 3658127007
ISBN 13: 9783658127008
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Taschenbuch. Zustand: 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. Bestandsnummer des Verkäufers 9783658127008
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Time-Optimal Trajectory Planning for Redundant Robots : Joint Space Decomposition for Redundancy Resolution in Non-Linear Optimization
Verlag:
Springer Fachmedien Wiesbaden, 2016
ISBN 10: 3658127007
ISBN 13: 9783658127008
Neu
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Anbieter: AHA-BUCH GmbH, Einbeck, Deutschland
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Taschenbuch. Zustand: 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. Bestandsnummer des Verkäufers 9783658127008
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Time-Optimal Trajectory Planning for Redundant Robots
Verlag:
Springer Fachmedien Wiesbaden Mrz 2016, 2016
ISBN 10: 3658127007
ISBN 13: 9783658127008
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Taschenbuch. Zustand: 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. Bestandsnummer des Verkäufers 9783658127008
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