Time-optimal trajectory planning for redundant robots: joint space decomposition for redundancy resolution in non-linear optimization
Gespeichert in:
| 1. Verfasser: | |
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| Format: | Elektronisch E-Book |
| Sprache: | English |
| Veröffentlicht: |
Wiesbaden
Springer Fachmedien
[2016]
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| Schriftenreihe: | BestMasters
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| Schlagworte: | |
| Online-Zugang: | BTU01 FAB01 FAW01 FHA01 FHI01 FHN01 FHR01 FKE01 FRO01 FWS01 FWS02 UBY01 Volltext Inhaltsverzeichnis Abstract |
| Beschreibung: | 1 Online-Ressource (XV, 90 p. 35 illus) |
| ISBN: | 9783658127015 |
| DOI: | 10.1007/978-3-658-12701-5 |
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| adam_text | TIME-OPTIMAL TRAJECTORY PLANNING FOR REDUNDANT ROBOTS
/ REITER, ALEXANDER
: 2016
TABLE OF CONTENTS / 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
DIESES SCHRIFTSTUECK WURDE MASCHINELL ERZEUGT.
TIME-OPTIMAL TRAJECTORY PLANNING FOR REDUNDANT ROBOTS
/ REITER, ALEXANDER
: 2016
ABSTRACT / INHALTSTEXT
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. CONTENTS NURBS CURVES MODELING: KINEMATICS AND
DYNAMICS OF REDUNDANT ROBOTS APPROACHES TO MINIMUM-TIME TRAJECTORY
PLANNING JOINT SPACE DECOMPOSITION APPROACH EXAMPLES FOR APPLICATIONS OF
ROBOTS TARGET GROUPS LECTURERS AND STUDENTS OF ROBOTICS AND AUTOMATION
INDUSTRIAL DEVELOPERS OF TRAJECTORY PLANNING ALGORITHMS THE AUTHOR
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
DIESES SCHRIFTSTUECK WURDE MASCHINELL ERZEUGT.
|
| any_adam_object | 1 |
| author | Reiter, Alexander |
| author_GND | (DE-588)1100316833 |
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| dewey-full | 629.8 |
| dewey-hundreds | 600 - Technology (Applied sciences) |
| dewey-ones | 629 - Other branches of engineering |
| dewey-raw | 629.8 |
| dewey-search | 629.8 |
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| discipline | Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
| doi_str_mv | 10.1007/978-3-658-12701-5 |
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| language | English |
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| spellingShingle | Reiter, Alexander Time-optimal trajectory planning for redundant robots joint space decomposition for redundancy resolution in non-linear optimization Engineering Applied mathematics Engineering mathematics Mechanics Mechanics, Applied Control engineering Robotics Mechatronics Control, Robotics, Mechatronics Appl.Mathematics/Computational Methods of Engineering Theoretical and Applied Mechanics Ingenieurwissenschaften |
| title | Time-optimal trajectory planning for redundant robots joint space decomposition for redundancy resolution in non-linear optimization |
| title_auth | Time-optimal trajectory planning for redundant robots joint space decomposition for redundancy resolution in non-linear optimization |
| title_exact_search | Time-optimal trajectory planning for redundant robots joint space decomposition for redundancy resolution in non-linear optimization |
| title_full | Time-optimal trajectory planning for redundant robots joint space decomposition for redundancy resolution in non-linear optimization Alexander Reiter |
| title_fullStr | Time-optimal trajectory planning for redundant robots joint space decomposition for redundancy resolution in non-linear optimization Alexander Reiter |
| title_full_unstemmed | Time-optimal trajectory planning for redundant robots joint space decomposition for redundancy resolution in non-linear optimization Alexander Reiter |
| title_short | Time-optimal trajectory planning for redundant robots |
| title_sort | time optimal trajectory planning for redundant robots joint space decomposition for redundancy resolution in non linear optimization |
| title_sub | joint space decomposition for redundancy resolution in non-linear optimization |
| topic | Engineering Applied mathematics Engineering mathematics Mechanics Mechanics, Applied Control engineering Robotics Mechatronics Control, Robotics, Mechatronics Appl.Mathematics/Computational Methods of Engineering Theoretical and Applied Mechanics Ingenieurwissenschaften |
| topic_facet | Engineering Applied mathematics Engineering mathematics Mechanics Mechanics, Applied Control engineering Robotics Mechatronics Control, Robotics, Mechatronics Appl.Mathematics/Computational Methods of Engineering Theoretical and Applied Mechanics Ingenieurwissenschaften |
| url | https://doi.org/10.1007/978-3-658-12701-5 http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=028920107&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=028920107&sequence=000003&line_number=0002&func_code=DB_RECORDS&service_type=MEDIA |
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