Optimal Path and Trajectory Planning for Serial Robots: Inverse Kinematics for Redundant Robots and Fast Solution of Parametric Problems - Softcover

Reiter, Alexander

Softcover

ISBN 10: 3658285931 ISBN 13: 9783658285937

Verlag: Springer Vieweg, 2019

Inhaltsangabe

Alexander Reiter describes optimal path and trajectory planning for serial robots in general, and rigorously treats the challenging application of path tracking for kinematically redundant manipulators therein in particular. This is facilitated by resolving both the path tracking task and the optimal inverse kinematics problem simultaneously. Furthermore, the author presents methods for fast computation of approximate optimal solutions to planning problems with changing parameters. With an optimal solution to a nominal problem, an iterative process based on parametric sensitivities is applied to rapidly obtain an approximate solution.

About the Author:

Dr. Alexander Reiter is a senior scientist at the Institute of Robotics of the Johannes Kepler University (JKU) Linz, Austria. His major fields of research are kinematics, dynamics, and trajectory planning for kinematically redundant serial robots as well as real-time methods for solving parametricnon-linear programming problems.

Über diesen Titel

Über die Autorin bzw. den Autor

Dr. Alexander Reiter is a senior scientist at the Institute of Robotics of the Johannes Kepler University (JKU) Linz, Austria. His major fields of research are kinematics, dynamics, and trajectory planning for kinematically redundant serial robots as well as real-time methods for solving parametric non-linear programming problems.

Von der hinteren Coverseite

Alexander Reiter describes optimal path and trajectory planning for serial robots in general, and rigorously treats the challenging application of path tracking for kinematically redundant manipulators therein in particular. This is facilitated by resolving both the path tracking task and the optimal inverse kinematics problem simultaneously. Furthermore, the author presents methods for fast computation of approximate optimal solutions to planning problems with changing parameters. With an optimal solution to a nominal problem, an iterative process based on parametric sensitivities is applied to rapidly obtain an approximate solution.

Contents

• Kinematics of Serial Robots
• Optimal Path and Trajectory Planning
• Optimal Path Tracking

Target Groups

• Scientists and master students in the fields of mechatronics, robotics and automation technology
• Practitioners in the samefields in industrial research and development

About the Author

Dr. Alexander Reiter is a senior scientist at the Institute of Robotics of the Johannes Kepler University (JKU) Linz, Austria. His major fields of research are kinematics, dynamics, and trajectory planning for kinematically redundant serial robots as well as real-time methods for solving parametric non-linear programming problems.

Details zur Ausgabe

• Verlag: Springer Vieweg
• Erscheinungsdatum: 2019
• Sprache: Englisch
• ISBN 10: 3658285931
• ISBN 13: 9783658285937
• Einband: Taschenbuch
• Auflage: 1
• Anzahl der Seiten: 212
• Kontakt zum Hersteller: ProductSafety@springernature.com; ProductSafety@springernature.com; ; Poststr. 9; Darmstadt; 64293; Deutschland