Time-Optimal Trajectory Planning for Redundant Robots Joint Space De
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. Mini
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Springer awards „BestMasters“ to the best master’s theses which have been completed at renowned universities in Germany, Austria, and Switzerland. The studies received highest marks and were recommended for publication by supervisors. They address current issues from various fields of research in natural sciences, psychology, technology, and economics. The series addresses practitioners as well as scientists and, in particular, offers guidance for early stage researchers.
Alexander Reiter
Time-Optimal Trajectory Planning for Redundant Robots Joint Space Decomposition for Redundancy Resolution in Non-Linear Optimization With a Preface by Univ.-Prof. Dr.-Ing. habil. Andreas Müller
Alexander Reiter Linz, Austria
OnlinePlus material to this book can be available on http://www.springer-vieweg.de/978-3-658-12700-8 BestMasters ISBN 978-3-658-12700-8 ISBN 978-3-658-12701-5 (eBook) DOI 10.1007/978-3-658-12701-5 Library of Congress Control Number: 2016930667 Springer Vieweg © Springer Fachmedien Wiesbaden 2016 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, express or implied, with respect to the material contained herein or for any errors or omissions that may have been made. Printed on acid-free paper This Springer Vieweg imprint is published by Springer Nature The registered company is Springer Fachmedien Wiesbaden GmbH
Foreword
Industrial robotics must address the changing needs of future production systems. Improving productivity and flexibility will remain the major challenge for prospective production systems with reduced energy consumption. The enabling key factors to achieve these goals are novel robotic design principles combined with advanced control concepts. An innovative design principle that is being introduced for industrial robots is the kinematic redundancy, i.e. to use a robotic manipulator that has more degrees of freedom than required to accomplish the intended manipulation tasks. Advanced control concepts shall ensure that a given manipulation task is accomplished efficiently. Time-optimal control schemes are such advanced concepts that allow for task execution in shortest po
