Windows 7 » Разное » Time-Optimal Trajectory Planning for Redundant Robots Joint Space Decomposition for Redundancy Resolution in Non-Linear Optimi

Time-Optimal Trajectory Planning for Redundant Robots Joint Space Decomposition for Redundancy Resolution in Non-Linear Optimi

Автор: Bo0mB0om » 23 августа 2016
Time-Optimal Trajectory Planning for Redundant Robots Joint Space Decomposition for Redundancy Resolution in Non-Linear Optimi

Alexander Reiter, "Time-Optimal Trajectory Planning for Redundant Robots: Joint Space Decomposition for Redundancy Resolution in Non-Linear Optimization"
2016 | ISBN-10: 3658127007 | 108 pages | PDF | 2 MB


This master's thesis presents a novel approach to finding trajectories with minimal end time for kinematically redundant manipulators. Emphasis is given to a general applicability of the developed method to industrial tasks such as gluing or welding. Minimum-time trajectories may yield economic advantages as a shorter trajectory duration results in a lower task cycle time. Whereas kinematically redundant manipulators possess increased dexterity, compared to conventional non-redundant manipulators, their inverse kinematics is not unique and requires further treatment. In this work a joint space decomposition approach is introduced that takes advantage of the closed form inverse kinematics solution of non-redundant robots. Kinematic redundancy can be fully exploited to achieve minimum-time trajectories for prescribed end-effector paths.


Time-Optimal Trajectory Planning for Redundant Robots: Joint Space Decomposition for Redundancy Resolution in Non-Linear OptimiTime-Optimal Trajectory Planning for Redundant Robots: Joint Space Decomposition for Redundancy Resolution in Non-Linear Optimi
Time-Optimal Trajectory Planning for Redundant Robots: Joint Space Decomposition for Redundancy Resolution in Non-Linear OptimiTime-Optimal Trajectory Planning for Redundant Robots: Joint Space Decomposition for Redundancy Resolution in Non-Linear Optimi

DOWNLOAD
(Buy premium account for maximum speed and resuming ability)





Перед тем как скачать Time-Optimal Trajectory Planning for Redundant Robots Joint Space Decomposition for Redundancy Resolution in Non-Linear Optimi бесплатно, без смс, регистрации, на халяву, через торрент, рекомендуем прочитать отзывыо Time-Optimal Trajectory Planning for Redundant Robots Joint Space Decomposition for Redundancy Resolution in Non-Linear Optimi.

Другие новости по теме:
  • BackupChain 2.4.562
    BackupChain 2.4.562 for Windows Servers and Workstations Edition | 15.1 MBBackupChain is a simple to use, yet powerful backup software made for IT professionals. It is a fully automatic and
  • Avira System Speedup 2.6.1.2751 Multilingual
    Avira System Speedup 2.6.1.2751 Multilingual | 14.6 MBUnleash the power you didn't know your PC had. Has your computer slowed down over time? Give it maintenance, not patience! Your PC's best days
  • Auto FTP Manager 6.01
    Auto FTP Manager 6.01 | 15.4 MB Auto FTP Manager makes it easy to schedule and automate your FTP transfers. Use Auto FTP Manager to connect to any FTP server and automatically upload and download
  • Time-Domain Computer Analysis of Nonlinear Hybrid Systems
    Time-Domain Computer Analysis of Nonlinear Hybrid Systems by Wenquan SuiEnglish | 6 Nov. 2001 | ISBN: 0849313961 | 392 Pages | PDF | 6 MBThe analysis of nonlinear hybrid electromagnetic systems poses
  • App Builder 2016.166
    App Builder 2016.166 | 10.9 MbApp Builder is an advanced yet user-friendly software utility whose purpose consists of helping people create their own HTML5 programs, even if they lack advanced