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 adva...
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| Format: | eBook |
| Language: | English |
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Wiesbaden
Springer Fachmedien Wiesbaden
2016, 2016
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| Edition: | 1st ed. 2016 |
| Series: | BestMasters
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| Collection: | Springer eBooks 2005- - Collection details see MPG.ReNa |
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