Time-Optimal Trajectory Planning for Redundant Robots
| Autor: | Reiter, Alexander |
|---|---|
| EAN: | 9783658127008 |
| Auflage: | 001 |
| Sachgruppe: | Technik |
| Sprache: | Englisch |
| Seitenzahl: | 108 |
| Produktart: | Kartoniert / Broschiert |
| Veröffentlichungsdatum: | 22.03.2016 |
| Untertitel: | Joint Space Decomposition for Redundancy Resolution in Non-Linear Optimization |
| Schlagworte: | Kinematik Mechatronik Roboter - Robotik - Industrieroboter |
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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.
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