Téléchargez le livre : Time-Optimal Trajectory Planning for Redundant Robots

Time-Optimal Trajectory Planning for Redundant Robots

Joint Space Decomposition for Redundancy Resolution in Non-Linear Optimization de

Éditeur :

Springer Vieweg


Collection :

BestMasters

Paru le : 2016-03-11

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Description
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.
Pages
90 pages
Collection
BestMasters
Parution
2016-03-11
Marque
Springer Vieweg
EAN papier
9783658127008
EAN PDF
9783658127015
Informations sur l'ebook
Nombre pages copiables
0
Nombre pages imprimables
9
Taille du fichier
1956 Ko
Prix
52,74 €

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