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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.
| Autorius: | Alexander Reiter |
| Serija: | BestMasters |
| Leidėjas: | Springer Fachmedien Wiesbaden |
| Išleidimo metai: | 2016 |
| Knygos puslapių skaičius: | 108 |
| ISBN-10: | 3658127007 |
| ISBN-13: | 9783658127008 |
| Formatas: | 210 x 148 x 7 mm. Knyga minkštu viršeliu |
| Kalba: | Anglų |
Parašykite atsiliepimą apie „Time-Optimal Trajectory Planning for Redundant Robots: Joint Space Decomposition for Redundancy Resolution in Non-Linear Optimization“
