Time-optimal trajectory planning for redundant robots

Joint Space Decomposition for Redundancy Resolution in Non-Linear Optimization

Auteurs

• Alexander Reiter

Paramètres

• 108 pages
• 4 heures de lecture

• Manuels
• Manuels universitaires

En savoir plus sur le livre

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.

Achat du livre

• Année de publication: 2016
• Reliure: (souple)