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OverviewThis 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. Full Product DetailsAuthor: Alexander ReiterPublisher: Springer Fachmedien Wiesbaden Imprint: Springer Vieweg Edition: 1st ed. 2016 Dimensions: Width: 14.80cm , Height: 0.70cm , Length: 21.00cm Weight: 1.507kg ISBN: 9783658127008ISBN 10: 3658127007 Pages: 90 Publication Date: 22 March 2016 Audience: Professional and scholarly , Professional & Vocational Format: Paperback Publisher's Status: Active Availability: Manufactured on demand  We will order this item for you from a manufactured on demand supplier. Table of ContentsNURBS Curves.- Modeling: Kinematics and Dynamics of Redundant Robots.- Approaches to Minimum-Time Trajectory Planning.- Joint Space Decomposition Approach.- Examples for Applications of Robots.ReviewsAuthor InformationAlexander 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. Tab Content 6Author Website:Countries AvailableAll regions |
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