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020 _a9783658127015
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082 0 4 _a629.8
_223
100 1 _aReiter, Alexander.
_eauthor.
245 1 0 _aTime-Optimal Trajectory Planning for Redundant Robots
_h[recurso electrónico] :
_bJoint Space Decomposition for Redundancy Resolution in Non-Linear Optimization /
_cby Alexander Reiter.
250 _a1st ed. 2016.
264 1 _aWiesbaden :
_bSpringer Fachmedien Wiesbaden :
_bImprint: Springer Vieweg,
_c2016.
300 _aXV, 90 p. 35 illus.
_bonline resource.
336 _atext
_btxt
_2rdacontent
337 _acomputer
_bc
_2rdamedia
338 _aonline resource
_bcr
_2rdacarrier
347 _atext file
_bPDF
_2rda
490 1 _aBestMasters
505 0 _aNURBS Curves -- Modeling: Kinematics and Dynamics of Redundant Robots -- Approaches to Minimum-Time Trajectory Planning -- Joint Space Decomposition Approach -- Examples for Applications of Robots.
520 _aThis 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. Contents NURBS Curves Modeling: Kinematics and Dynamics of Redundant Robots Approaches to Minimum-Time Trajectory Planning Joint Space Decomposition Approach Examples for Applications of Robots Target Groups Lecturers and Students of Robotics and Automation Industrial Developers of Trajectory Planning Algorithms The Author Alexander Reiter is a Senior Scientist at the Institute of Robotics of the Johannes Kepler University Linz in Austria. His major fields of research are kinematics, dynamics, and trajectory planning for kinematically redundant serial robots.
650 0 _aEngineering.
650 0 _aApplied mathematics.
650 0 _aEngineering mathematics.
650 0 _aMechanics.
650 0 _aMechanics, Applied.
650 0 _aControl engineering.
650 0 _aRobotics.
650 0 _aMechatronics.
650 1 4 _aEngineering.
650 2 4 _aControl, Robotics, Mechatronics.
650 2 4 _aAppl.Mathematics/Computational Methods of Engineering.
650 2 4 _aTheoretical and Applied Mechanics.
710 2 _aSpringerLink (Online service)
773 0 _tSpringer eBooks
776 0 8 _iPrinted edition:
_z9783658127008
830 0 _aBestMasters
856 4 0 _zLibro electrónico
_uhttp://148.231.10.114:2048/login?url=http://dx.doi.org/10.1007/978-3-658-12701-5
912 _aZDB-2-ENG
942 _cLIBRO_ELEC
999 _c227856
_d227856