Optimal Path and Trajectory Planning for Serial Robots: Inverse Kinematics for Redundant Robots and Fast Solution of Parametric Problems

ISBN-13: 9783658285937 / Angielski / Miękka / 2019 / 191 str.

Alexander Reiter

Recenzje

"This book is a concise and useful read and a nice addition to the many existing books dealing with similar topics. It should be of interest to master's and Ph.D. students, as well as to practicing and research engineers in the field of mechatronics, robotics and automation technology." (Clementina D. Mladenova, Mathematical Reviews, September, 2020)

Spis treści

Kinematics of Serial Robots.- Optimal Path and Trajectory Planning.- Optimal Path Tracking.

O autorze

Dr. Alexander Reiter is a senior scientist at the Institute of Robotics of the Johannes Kepler University (JKU) Linz, Austria. His major fields of research are kinematics, dynamics, and trajectory planning for kinematically redundant serial robots as well as real-time methods for solving parametric non-linear programming problems.

Blurb

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.

Contents

• Kinematics of Serial Robots
• Optimal Path and Trajectory Planning
• Optimal Path Tracking

Target Groups

• Scientists and master students in the fields of mechatronics, robotics and automation technology
• Practitioners in the same fields in industrial research and development

About the Author

Dr. Alexander Reiter is a senior scientist at the Institute of Robotics of the Johannes Kepler University (JKU) Linz, Austria. His major fields of research are kinematics, dynamics, and trajectory planning for kinematically redundant serial robots as well as real-time methods for solving parametric non-linear programming problems.