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Time-Optimal Trajectory Planning for Redundant Robots : Joint Space Decomposition for Redundancy

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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.

Number of Pages: 90
Genre: Technology, Mathematics
Sub-Genre: Applied, Automation, Engineering / Mechanical
Series Title: BestMasters
Format: Paperback
Publisher: Springer Verlag
Author: Alexander Reiter
Language: English
Street Date: March 22, 2016
TCIN: 51172095
UPC: 9783658127008
Item Number (DPCI): 248-17-3177
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