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

di Alexander Reiter (Autore)

Springer Fachmedien Wiesbaden, 2016

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.

• Autore: Alexander Reiter
• Editore: Springer Fachmedien Wiesbaden
• Collana: BestMasters
• Anno: 2016
• Rilegatura: Paperback / softback
• Pagine: 90 p.
• Dimensioni: 210 x 148 mm
• EAN: 9783658127008

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