Time-Optimal Trajectory Planning for Redundant Robots

Joint Space Decomposition for Redundancy Resolution in Non-Linear Optimization
1. Auflage 2016
ISBN: 978-3-658-12700-8
Verlag: Springer

Buch, Englisch, 90 Seiten, Paperback, Format (B × H): 148 mm x 210 mm, Gewicht: 1507 g

Reihe: BestMasters

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.

Zielgruppe

Research

Autoren/Hrsg.

Reiter, Alexander

Fachgebiete

• Technische Wissenschaften Elektronik | Nachrichtentechnik Elektronik Robotik
• Technische Wissenschaften Maschinenbau | Werkstoffkunde Technische Mechanik | Werkstoffkunde Statik, Dynamik, Kinetik, Kinematik

Inhaltsverzeichnis

NURBS Curves.- Modeling:

Kinematics and Dynamics of Redundant Robots.- Approaches to Minimum-Time
Trajectory Planning.- Joint Space Decomposition Approach.- Examples for Applications
of Robots.

Über Autor(innen)

Alexander Reiter is a
Senior Scientist at the Institute of Robotics of the Johannes Kepler University
Linz in Austria. His major fields of research are kinematics, dynamics, and
trajectory planning for kinematically redundant serial robots.