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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Bibliographic Details
Main Author: Reiter, Alexander (Author)
Corporate Author: SpringerLink (Online service)
Format: e-Book
Language:English
Published: Wiesbaden : Springer Fachmedien Wiesbaden : Imprint: Springer Vieweg, 2016.
Edition:1st ed. 2016.
Series:BestMasters,
Subjects:
Control engineering.
Robotics.
Automation.
Engineering mathematics.
Engineering > Data processing.
Mechanics, Applied.
Control, Robotics, Automation.
Mathematical and Computational Engineering Applications.
Engineering Mechanics.
Online Access:Full-text access
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Table of 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.

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