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

• Main Author: Reiter, Alexander (Author)
• Corporate Author: SpringerLink (Online service)
• Format: Electronic eBook
• Language: English
• Published: Wiesbaden : Springer Fachmedien Wiesbaden : Imprint: Springer Vieweg, 2016.
• Edition: 1st ed. 2016.
• Series: BestMasters
• Subjects: Engineering.; Applied mathematics.; Engineering mathematics.; Mechanics.; Mechanics, Applied.; Control engineering.; Robotics.; Mechatronics.; Control, Robotics, Mechatronics.; Appl.Mathematics/Computational Methods of Engineering.; Theoretical and Applied Mechanics.

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 adva...

Table of 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.