ENGLISH

Time-Optimal Trajectory Planning for Redundant Robots: Joint Space Decomposition for Redundancy Resolution in Non-Linear Optimization

By Alexander Reiter (auth.)

Book information

Publisher
Springer Vieweg
Year
2016
ISBN
978-3-658-12700-8, 978-3-658-12701-5
DOI
10.1007/978-3-658-12701-5
Language
english
Format
PDF
Filesize
2 MB (1968202 bytes)
Series
BestMasters
Edition
1
Pages
XV, 90\100
Time added
2016-03-14 21:35:01
ControlMechatronics; Appl.Mathematics/Computational MethoRobotics

Description

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.

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