Coverart for item
The Resource Time-optimal trajectory planning for redundant robots : joint space decomposition for redundancy resolution in non-linear optimization, Alexander Reiter ; with a preface by Univ.-Prof. Dr.-Ing. habil. Andreas Müller

Time-optimal trajectory planning for redundant robots : joint space decomposition for redundancy resolution in non-linear optimization, Alexander Reiter ; with a preface by Univ.-Prof. Dr.-Ing. habil. Andreas Müller

Label
Time-optimal trajectory planning for redundant robots : joint space decomposition for redundancy resolution in non-linear optimization
Title
Time-optimal trajectory planning for redundant robots
Title remainder
joint space decomposition for redundancy resolution in non-linear optimization
Statement of responsibility
Alexander Reiter ; with a preface by Univ.-Prof. Dr.-Ing. habil. Andreas Müller
Creator
Subject
Language
eng
Summary
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. Contents NURBS Curves Modeling: Kinematics and Dynamics of Redundant Robots Approaches to Minimum-Time Trajectory Planning Joint Space Decomposition Approach Examples for Applications of Robots Target Groups Lecturers and Students of Robotics and Automation Industrial Developers of Trajectory Planning 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
Member of
http://library.link/vocab/creatorName
Reiter, Alexander,
Dewey number
629.8/92
Illustrations
illustrations
Index
no index present
Literary form
non fiction
Nature of contents
  • dictionaries
  • bibliography
Series statement
BestMasters
http://library.link/vocab/subjectName
Robots, Industrial
Label
Time-optimal trajectory planning for redundant robots : joint space decomposition for redundancy resolution in non-linear optimization, Alexander Reiter ; with a preface by Univ.-Prof. Dr.-Ing. habil. Andreas Müller
Instantiates
Publication
Antecedent source
unknown
Bibliography note
Includes bibliographical references
Color
multicolored
Contents
NURBS Curves -- Modeling: Kinematics and Dynamics of Redundant Robots -- Approaches to Minimum-Time Trajectory Planning -- Joint Space Decomposition Approach -- Examples for Applications of Robots
Control code
ocn944444859
Dimensions
unknown
Extent
1 online resource (xv, 90 pages)
File format
unknown
Form of item
online
Isbn
9783658127008
Level of compression
unknown
Other physical details
illustrations
Quality assurance targets
not applicable
Reformatting quality
unknown
Sound
unknown sound
Specific material designation
remote
System control number
(OCoLC)944444859
Label
Time-optimal trajectory planning for redundant robots : joint space decomposition for redundancy resolution in non-linear optimization, Alexander Reiter ; with a preface by Univ.-Prof. Dr.-Ing. habil. Andreas Müller
Publication
Antecedent source
unknown
Bibliography note
Includes bibliographical references
Color
multicolored
Contents
NURBS Curves -- Modeling: Kinematics and Dynamics of Redundant Robots -- Approaches to Minimum-Time Trajectory Planning -- Joint Space Decomposition Approach -- Examples for Applications of Robots
Control code
ocn944444859
Dimensions
unknown
Extent
1 online resource (xv, 90 pages)
File format
unknown
Form of item
online
Isbn
9783658127008
Level of compression
unknown
Other physical details
illustrations
Quality assurance targets
not applicable
Reformatting quality
unknown
Sound
unknown sound
Specific material designation
remote
System control number
(OCoLC)944444859

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