000			03543nam a22005895i 4500
001			978-3-658-12701-5
003			DE-He213
005			20200421111848.0
007			cr nn 008mamaa
008			160311s2016 gw | s |||| 0|eng d
020			_a9783658127015 _9978-3-658-12701-5
024	7		_a10.1007/978-3-658-12701-5 _2doi
050		4	_aTJ210.2-211.495
050		4	_aTJ163.12
072		7	_aTJFM _2bicssc
072		7	_aTJFD _2bicssc
072		7	_aTEC004000 _2bisacsh
072		7	_aTEC037000 _2bisacsh
082	0	4	_a629.8 _223
100	1		_aReiter, Alexander. _eauthor.
245	1	0	_aTime-Optimal Trajectory Planning for Redundant Robots _h[electronic resource] : _bJoint Space Decomposition for Redundancy Resolution in Non-Linear Optimization / _cby Alexander Reiter.
250			_a1st ed. 2016.
264		1	_aWiesbaden : _bSpringer Fachmedien Wiesbaden : _bImprint: Springer Vieweg, _c2016.
300			_aXV, 90 p. 35 illus. _bonline resource.
336			_atext _btxt _2rdacontent
337			_acomputer _bc _2rdamedia
338			_aonline resource _bcr _2rdacarrier
347			_atext file _bPDF _2rda
490	1		_aBestMasters
505	0		_aNURBS Curves -- Modeling: Kinematics and Dynamics of Redundant Robots -- Approaches to Minimum-Time Trajectory Planning -- Joint Space Decomposition Approach -- Examples for Applications of Robots.
520			_aThis 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. Contents NURBS Curves Modeling: Kinematics and Dynamics of Redundant Robots Approaches to Minimum-Time Trajectory Planning Joint Space Decomposition Approach Examples for Applications of Robots Target Groups Lecturers and Students of Robotics and Automation Industrial Developers of Trajectory Planning Algorithms The Author Alexander Reiter is a Senior Scientist at the Institute of Robotics of the Johannes Kepler University Linz in Austria. His major fields of research are kinematics, dynamics, and trajectory planning for kinematically redundant serial robots.
650		0	_aEngineering.
650		0	_aApplied mathematics.
650		0	_aEngineering mathematics.
650		0	_aMechanics.
650		0	_aMechanics, Applied.
650		0	_aControl engineering.
650		0	_aRobotics.
650		0	_aMechatronics.
650	1	4	_aEngineering.
650	2	4	_aControl, Robotics, Mechatronics.
650	2	4	_aAppl.Mathematics/Computational Methods of Engineering.
650	2	4	_aTheoretical and Applied Mechanics.
710	2		_aSpringerLink (Online service)
773	0		_tSpringer eBooks
776	0	8	_iPrinted edition: _z9783658127008
830		0	_aBestMasters
856	4	0	_uhttp://dx.doi.org/10.1007/978-3-658-12701-5
912			_aZDB-2-ENG
942			_cEBK
999			_c55936 _d55936