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

✍ Scribed by Alexander Reiter (auth.)

• Publisher: Springer Vieweg
• Year: 2016
• Tongue: English
• Leaves: 100
• Series: BestMasters
• Edition: 1
• Category: Library

✦ Synopsis

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.

✦ Table of Contents

Front Matter....Pages I-XV
Introduction....Pages 1-3
NURBS Curves....Pages 5-14
Modeling: Kinematics and Dynamics of Redundant Robots....Pages 15-22
Approaches to Minimum-Time Trajectory Planning....Pages 23-43
Joint Space Decomposition Approach....Pages 45-51
Examples....Pages 53-85
Back Matter....Pages 87-90

✦ Subjects

Control, Robotics, Mechatronics; Appl.Mathematics/Computational Methods of Engineering; Theoretical and Applied Mechanics