Optimal Path and Trajectory Planning for Serial 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 Optimal Path and Trajectory Planning for Serial Robots write by Alexander Reiter. This book was released on 2019-11-06. Optimal Path and Trajectory Planning for Serial Robots available in PDF, EPUB and Kindle. Alexander Reiter describes optimal path and trajectory planning for serial robots in general, and rigorously treats the challenging application of path tracking for kinematically redundant manipulators therein in particular. This is facilitated by resolving both the path tracking task and the optimal inverse kinematics problem simultaneously. Furthermore, the author presents methods for fast computation of approximate optimal solutions to planning problems with changing parameters. With an optimal solution to a nominal problem, an iterative process based on parametric sensitivities is applied to rapidly obtain an approximate solution. About the Author: Dr. Alexander Reiter is a senior scientist at the Institute of Robotics of the Johannes Kepler University (JKU) Linz, Austria. His major fields of research are kinematics, dynamics, and trajectory planning for kinematically redundant serial robots as well as real-time methods for solving parametric non-linear programming problems.
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 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.
Optimal Trajectory Planning of Robotic Manipulators
Optimal Trajectory Planning of Robotic Manipulators - 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 Optimal Trajectory Planning of Robotic Manipulators write by Sunil Kumar Singh. This book was released on 1985. Optimal Trajectory Planning of Robotic Manipulators available in PDF, EPUB and Kindle.
Time-optimal Trajectory Planning by Variation of Path and Robot Location
Time-optimal Trajectory Planning by Variation of Path and Robot Location - 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 by Variation of Path and Robot Location write by Barry Boaz Groman. This book was released on 1988. Time-optimal Trajectory Planning by Variation of Path and Robot Location available in PDF, EPUB and Kindle.
