Minimum Jerk Trajectory Planning for Trajectory Constrained Redundant Robots - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Minimum Jerk Trajectory Planning for Trajectory Constrained Redundant Robots write by Philip L. Freeman. This book was released on 2012. Minimum Jerk Trajectory Planning for Trajectory Constrained Redundant Robots available in PDF, EPUB and Kindle. In this dissertation, we develop an efficient method of generating minimal jerk trajectories for redundant robots in trajectory following problems. We show that high jerk is a local phenomenon, and therefore focus on optimizing regions of high jerk that occur when using traditional trajectory generation methods. The optimal trajectory is shown to be located on the foliation of self-motion manifolds, and this property is exploited to express the problem as a minimal dimension Bolza optimal control problem. A numerical algorithm based on ideas from pseudo-spectral optimization methods is proposed and applied to two example planar robot structures with two redundant degrees of freedom. When compared with existing trajectory generation methods, the proposed algorithm reduces the integral jerk of the examples by 75% and 13%. Peak jerk is reduced by 98% and 33%. Finally a real time controller is proposed to accurately track the planned trajectory given real-time measurements of the tool-tip's following error.
Trajectory Planning for Automatic Machines and Robots
Trajectory Planning for Automatic Machines and Robots - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Trajectory Planning for Automatic Machines and Robots write by Luigi Biagiotti. This book was released on 2008-10-23. Trajectory Planning for Automatic Machines and Robots available in PDF, EPUB and Kindle. This book deals with the problems related to planning motion laws and t- jectories for the actuation system of automatic machines, in particular for those based on electric drives, and robots. The problem of planning suitable trajectories is relevant not only for the proper use of these machines, in order to avoid undesired e?ects such as vibrations or even damages on the mech- ical structure, but also in some phases of their design and in the choice and sizing of the actuators. This is particularly true now that the concept of “el- tronic cams” has replaced, in the design of automatic machines, the classical approach based on “mechanical cams”. The choice of a particular trajectory has direct and relevant implications on several aspects of the design and use of an automatic machine, like the dimensioning of the actuators and of the reduction gears, the vibrations and e?orts generated on the machine and on the load, the tracking errors during the motion execution. For these reasons, in order to understand and appreciate the peculiarities of the di?erent techniques available for trajectory planning, besides the ma- ematical aspects of their implementation also a detailed analysis in the time and frequency domains, a comparison of their main properties under di?erent points of view, and general considerations related to their practical use are reported.
Time-Optimal Trajectory Planning for Redundant Robots
Time-Optimal Trajectory Planning for Redundant Robots - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Time-Optimal Trajectory Planning for Redundant Robots write by Alexander Reiter. This book was released on 2016-03-11. Time-Optimal Trajectory Planning for Redundant Robots available in PDF, EPUB and Kindle. 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.
Trajectory Planning for Hyper-Redundant Manipulators in Constrained Workspaces
Trajectory Planning for Hyper-Redundant Manipulators in Constrained Workspaces - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Trajectory Planning for Hyper-Redundant Manipulators in Constrained Workspaces write by Mahdi Fallahinejad Ghajari. This book was released on 2015. Trajectory Planning for Hyper-Redundant Manipulators in Constrained Workspaces available in PDF, EPUB and Kindle.
Modern Robotics
Modern Robotics - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Modern Robotics write by Kevin M. Lynch. This book was released on 2017-05-25. Modern Robotics available in PDF, EPUB and Kindle. A modern and unified treatment of the mechanics, planning, and control of robots, suitable for a first course in robotics.
