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Time-Optimal Trajectory Planning for Redundant Robots

Part of the BestMasters Book Series

DOI: 10.1007/978-3-658-12701-5

ISBN: 978-3-658-12700-8

Publisher: Springer Fachmedien Wiesbaden - Springer Journals

Mar 12, 2016

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Chapter 1Introduction

Reiter, Alexander

Pages: 1 –3

[Kinematic redundancy describes a manipulator’s topological property of featuring more joints than necessary to assume any configuration in its task space of given dimension. Figure 1.1 illustrates a planar robot with three joints. Since only the horizontal and the vertical position coordinates...
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Chapter 2NURBS Curves

Reiter, Alexander

Pages: 5 –14

[This chapter provides an overview of the basic properties of NURBS curves and possible applications in the field of optimization in robotics. NURBS is an acronym that stands for Non-Uniform Rational B-splines, a class of parameterized geometric curves. For the sake of brevity, proofs are omitted...
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Chapter 3Modeling: Kinematics and Dynamics of Redundant Robots

Reiter, Alexander

Pages: 15 –22

[In this chapter the Projection Equation, a synthetic method for deriving the equations of motion of a multibody system, will be briefly described and applied to an example. A comprehensive discussion of this method is presented in [2].]
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Chapter 4Approaches to Minimum-Time Trajectory Planning

Reiter, Alexander

Pages: 23 –43

[This section describes the problem of minimum-time trajectory planning along predefined paths for serial robots, especially for redundant manipulators. Inverse kinematics are used in order to utilize null space motion and thus exploit a robot’s kinematic redundancy for a further reduction of the...
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Chapter 5Joint Space Decomposition Approach

Reiter, Alexander

Pages: 45 –51

[In this section a separation method for minimum-time trajectory planning for serial redundant robots with one redundant degree of freedom is presented.]
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Chapter 6Examples

Reiter, Alexander

Pages: 53 –85

[In this section, the separation method presented in Chapter 5 will be used to generate minimum-time trajectories for a selective compliance articulated robot arm (SCARA) with three degrees of freedom. Examples for applications of robots of this type are assembly tasks or pick-and-place...

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