Time-Optimal Trajectory Planning for Redundant Robots - Joint Space Decomposition for Redundancy Resolution in Non-Linear Optimization

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.

List of contents

NURBS Curves.- Modeling:Kinematics and Dynamics of Redundant Robots.- Approaches to Minimum-TimeTrajectory Planning.- Joint Space Decomposition Approach.- Examples for Applicationsof Robots.

Summary

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.

Product details

• Authors: Alexander Reiter
• Publisher: Springer, Berlin
• Languages: English
• Product format: Paperback / Softback
• Released: 22.03.2016
• EAN: 9783658127008
• ISBN: 978-3-658-12700-8
• No. of pages: 90
• Dimensions: 149 mm x 211 mm x 8 mm
• Weight: 152 g
• Illustrations: XV, 90 p. 35 illus.
• Series: BestMasters
• Subjects: Natural sciences, medicine, IT, technology > Technology > Electronics, electrical engineering, communications engineering; C, Robotics, engineering, Civil Engineering, Mathematical and Computational Engineering, Theoretical and Applied Mechanics, Mechanics, Electronic devices & materials, Mechanics of solids, Mechanics, Applied, Engineering mathematics, Applied mathematics, Mathematical and Computational Engineering Applications, Maths for engineers, Control, Robotics, Mechatronics, Control, Robotics, Automation, Control engineering, Mechatronics