| 书目名称 | Optimal Path and Trajectory Planning for Serial Robots | | 副标题 | Inverse Kinematics f | | 编辑 | Alexander Reiter | | 视频video | | | 概述 | Optimal Inverse Kinematics and Rapid Solution Approximation | | 图书封面 |  | | 描述 | .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 parametricnon-linear programming problems.. | | 出版日期 | Book 2020 | | 关键词 | Optimal Path Planning; Optimal Trajectory Planning; Serial Robots; Optimal Inverse Kinematics; Jacobian | | 版次 | 1 | | doi | https://doi.org/10.1007/978-3-658-28594-4 | | isbn_softcover | 978-3-658-28593-7 | | isbn_ebook | 978-3-658-28594-4 | | copyright | Springer Fachmedien Wiesbaden GmbH, part of Springer Nature 2020 |
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发表于 2025-3-21 17:44:57
