Optimal Path and Trajectory Planning for Serial Robots Inverse Kinem
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 resolvi
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Optimal Path and Trajectory Planning for Serial Robots Inverse Kinematics for Redundant Robots and Fast Solution of Parametric Problems
Optimal Path and Trajectory Planning for Serial Robots
Alexander Reiter
Optimal Path and Trajectory Planning for Serial Robots Inverse Kinematics for Redundant Robots and Fast Solution of Parametric Problems
Alexander Reiter Johannes Kepler University Linz Linz, Austria Dissertation, Johannes Kepler University Linz, 2019
ISBN 978-3-658-28593-7 ISBN 978-3-658-28594-4 (eBook) https://doi.org/10.1007/978-3-658-28594-4 Springer Vieweg © Springer Fachmedien Wiesbaden GmbH, part of Springer Nature 2020 This work is subject to copyright. All rights are reserved by the Publisher, whether the whole or part of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation, broadcasting, reproduction on microfilms or in any other physical way, and transmission or information storage and retrieval, electronic adaptation, computer software, or by similar or dissimilar methodology now known or hereafter developed. The use of general descriptive names, registered names, trademarks, service marks, etc. in this publication does not imply, even in the absence of a specific statement, that such names are exempt from the relevant protective laws and regulations and therefore free for general use. The publisher, the authors and the editors are safe to assume that the advice and information in this book are believed to be true and accurate at the date of publication. Neither the publisher nor the authors or the editors give a warranty, expressed or implied, with respect to the material contained herein or for any errors or omissions that may have been made. The publisher remains neutral with regard to jurisdictional claims in published maps and institutional affiliations. This Springer Vieweg imprint is published by the registered company Springer Fachmedien Wiesbaden GmbH part of Springer Nature. The registered company address is: Abraham-Lincoln-Str. 46, 65189 Wiesbaden, Germany
Acknowledgement This work has been supported by the COMET-K2 “Center for Symbiotic Mechatronics” of the Linz Center of Mechatronics (LCM) funded by the Austrian federal government and the federal state of Upper Austria. Alexander Reiter
Contents List of Figures . . . . . . . . . . . . . . . . . . . . . . . . . .
XI
List of Tables . . . . . . . . . . . . . . . . . . . . . . . . . .
XIII
List of Symbols and Abbreviations
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XV
Abstract . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XVII Kurzfassung . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . 2 Numerical Basics . . . . . . . . . . . . . . . . . . . . 2.1 Numerical Optimization . . . . . . . . . . . . . . . . . 2.1.1 Convexity . . . . . . . . . . . . . . . . . . . . . . . . 2.1.2 Constrained Optimization . . . . . . . . . . . . . . . 2.1.3 Parametric Sensitivities . . . . . . . . . . . . . . . . 2.2 B
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