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

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

Author
Alexander Reiter (auth.)
Publisher
Springer Vieweg
Language
English
Edition
1
Year
2016
Page
XV, 90
ISBN
978-3-658-12700-8,978-3-658-12701-5
File Type
pdf
File Size
1.9 MiB

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.

show more...

How to Download?!!!

Just click on START button on Telegram Bot

Free Download Book