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Optimal Path and Trajectory Planning for Serial Robots

Inverse Kinematics for Redundant Robots and Fast Solution of Parametric Problems

  • Alexander Reiter
Book

Table of contents

  1. Front Matter
    Pages I-XX
  2. Alexander Reiter
    Pages 1-7
  3. Alexander Reiter
    Pages 9-47
  4. Alexander Reiter
    Pages 49-91
  5. Alexander Reiter
    Pages 93-135
  6. Alexander Reiter
    Pages 137-154
  7. Alexander Reiter
    Pages 155-158
  8. Back Matter
    Pages 159-191

About this book

Introduction

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.

Keywords

Optimal Path Planning Optimal Trajectory Planning Serial Robots Optimal Inverse Kinematics Jacobian Nullspace Augmentation Active Set Change Kinematical Redundancy Numerical Optimization Mechatronics

Authors and affiliations

  • Alexander Reiter
    • 1
  1. 1.Johannes Kepler University LinzLinzAustria

Bibliographic information