{"product_id":"time-optimal-trajectory-planning-for-redundant-robots-joint-space-decomposition-for-redundancy-resolution-in-non-linear-optimization-von-alexander-reiter","title":"Time-Optimal Trajectory Planning for Redundant Robots","description":"\n                                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.\n                \n                \u003cp\u003e\u003c\/p\u003e\n                            \n            \u003cdiv class=\"aw-variant-hidden-subtitle-div\" id=\"aw-variant-subtitle-9783658127008\"\u003e\u003ch3\u003eJoint Space Decomposition for Redundancy Resolution in Non-Linear Optimization\u003c\/h3\u003e\u003c\/div\u003e","brand":"Libri","offers":[{"title":"Softcover - 9783658127008","offer_id":39447849304157,"sku":"9783658127008","price":53.49,"currency_code":"EUR","in_stock":true}],"thumbnail_url":"\/\/cdn.shopify.com\/s\/files\/1\/0940\/0622\/files\/07d8a2e8-397c-4c5f-a712-646adcce3234.jpg?v=1775886214","url":"https:\/\/shop.autorenwelt.de\/en\/products\/time-optimal-trajectory-planning-for-redundant-robots-joint-space-decomposition-for-redundancy-resolution-in-non-linear-optimization-von-alexander-reiter","provider":"Autorenwelt Shop","version":"1.0","type":"link"}