Optimal Path and Trajectory Planning for Serial Robots Inverse Kinematics for Redundant Robots and Fast Solution of Parametric Problems
-
- Taschenbuch ausgewählt
- eBook
-
Sprache:Englisch
Fr. 137.00
inkl. gesetzl. MwSt.,
Beschreibung
Produktdetails
Einband
Taschenbuch
Erscheinungsdatum
21.11.2019
Verlag
Springer Fachmedien Wiesbaden GmbHSeitenzahl
191
Maße (L/B/H)
21/14.8/1.2 cm
Gewicht
281 g
Auflage
1st ed. 2020
Sprache
Englisch
ISBN
978-3-658-28593-7
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.
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 parametricnon-linear programming problems.
Kundinnen und Kunden meinen
Verfassen Sie die erste Bewertung zu diesem Artikel
Helfen Sie anderen Kund*innen durch Ihre Meinung