Optimal Path and Trajectory Planning for Serial Robots: Inverse Kinematics for Redundant Robots and Fast Solution of Parametric Problems

✍ Scribed by Alexander Reiter

Publisher: Springer Fachmedien Wiesbaden;Springer Vieweg
Year: 2020
Tongue: English
Leaves: 201
Edition: 1st ed. 2020
Category: Library

No coin nor oath required. For personal study only.

✦ Synopsis

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 parametric non-linear programming problems.

✦ Table of Contents

Front Matter ....Pages I-XX
Introduction (Alexander Reiter)....Pages 1-7
Numerical Basics (Alexander Reiter)....Pages 9-47
Kinematics of Serial Robots (Alexander Reiter)....Pages 49-91
Path and Trajectory Planning (Alexander Reiter)....Pages 93-135
Optimal Path Tracking (Alexander Reiter)....Pages 137-154
Conclusion (Alexander Reiter)....Pages 155-158
Back Matter ....Pages 159-191

✦ Subjects

Engineering; Robotics and Automation; Mathematical and Computational Engineering

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