In:
PAMM, Wiley, Vol. 15, No. 1 ( 2015-10), p. 67-68
Abstract:
Kinematically redundant serial robots have become industrially important due their increased workspace and their inherent capability of null space motion resulting in remarkable adaptiveness to specific tasks compared to conventional, non‐redundant manipulators. Attempting to increase the cost‐effectiveness of industrial processes, introducing minimum‐time trajectories may yield economical advantages due to reduced motion cycle times. This contribution presents a method that uses joint space decomposition and analytic inverse kinematics as well as standard optimization techniques to obtain minimum‐time B‐spline joint trajectories along prescribed task space paths for kinematically redundant serial robots. It is shown that the present method was successfully applied to a planar manipulator. (© 2015 Wiley‐VCH Verlag GmbH & Co. KGaA, Weinheim)
Type of Medium:
Online Resource
ISSN:
1617-7061
,
1617-7061
DOI:
10.1002/pamm.201510024
Language:
English
Publisher:
Wiley
Publication Date:
2015
detail.hit.zdb_id:
2078931-2