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Approaches to Minimum-Time Trajectory Planning

  • Alexander ReiterEmail author
Chapter
  • 834 Downloads
Part of the BestMasters book series (BEST)

Abstract

This section describes the problem of minimum-time trajectory planning along predefined paths for serial robots, especially for redundant manipulators. Inverse kinematics are used in order to utilize null space motion and thus exploit a robot’s kinematic redundancy for a further reduction of the trajectory end time.

Keywords

Inverse Kinematic Task Space Joint Velocity Redundant Manipulator Previous Page 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer Fachmedien Wiesbaden 2016

Authors and Affiliations

  1. 1.LinzAustria

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