| 书目名称 | Time-Optimal Trajectory Planning for Redundant Robots |
| 副标题 | Joint Space Decompos |
| 编辑 | Alexander Reiter |
| 视频video | |
| 概述 | Study in Robotics.Includes supplementary material: |
| 丛书名称 | BestMasters |
| 图书封面 |  |
| 描述 | 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.. |
| 出版日期 | Book 2016 |
| 关键词 | Robots; Optimization; Redundancy; Kinematics; Dynamics; Mechatronics; Redundanz; Kinematik; Industrieroboter |
| 版次 | 1 |
| doi | https://doi.org/10.1007/978-3-658-12701-5 |
| isbn_softcover | 978-3-658-12700-8 |
| isbn_ebook | 978-3-658-12701-5Series ISSN 2625-3577 Series E-ISSN 2625-3615 |
| issn_series | 2625-3577 |
| copyright | Springer Fachmedien Wiesbaden 2016 |
发表于 2025-3-21 19:47:44
