As its title suggests, this thesis is concerned with optimal path and trajectory planning for serial manipulators. For the treatment of this subject, the mathematical background regarding numerical optimization and therein especially parametric problems, B-spline curves and optimal control problems is required which is provided in this thesis. In addition, robot kinematics, i.e. forward and inverse kinematics on position, velocity and higher derivative level, is also examined rigorously in this thesis as a preparation for more advanced topics.
Unable to display preview. Download preview PDF.