Optimal Path and Trajectory Planning for Serial Robots
Optimal Path and Trajectory Planning for Serial Robots:
Inverse Kinematics for Redundant Robots and Fast Solution of Parametric Problems
by Alexander Reiter
English | 2020 | ISBN: 3658285931 | 201 Pages | PDF | 3.31 MB
Inverse Kinematics for Redundant Robots and Fast Solution of Parametric Problems
by Alexander Reiter
English | 2020 | ISBN: 3658285931 | 201 Pages | PDF | 3.31 MB
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 resolving both the path tracking task and the optimal inverse kinematics problem simultaneously. Furthermore, the author presents methods for fast computation of approximate optimal solutions to planning problems with changing parameters. With an optimal solution to a nominal problem, an iterative process based on parametric sensitivities is applied to rapidly obtain an approximate solution.