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

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...

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Detalles Bibliográficos
Clasificación:Libro Electrónico
Autor principal: Reiter, Alexander (Autor)
Autor Corporativo: SpringerLink (Online service)
Formato: Electrónico eBook
Idioma:Inglés
Publicado: Wiesbaden : Springer Fachmedien Wiesbaden : Imprint: Springer Vieweg, 2016.
Edición:1st ed. 2016.
Colección:BestMasters,
Temas:
Control engineering.
Robotics.
Automation.
Engineering mathematics.
Engineering > Data processing.
Mechanics, Applied.
Control, Robotics, Automation.
Mathematical and Computational Engineering Applications.
Engineering Mechanics.
Acceso en línea:Texto Completo
Tabla de Contenidos:
  • NURBS Curves
  • Modeling: Kinematics and Dynamics of Redundant Robots
  • Approaches to Minimum-Time Trajectory Planning
  • Joint Space Decomposition Approach
  • Examples for Applications of Robots.

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