Abstract
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.
| Original language | English |
|---|---|
| Place of Publication | Wiesbaden |
| Publisher | Springer Vieweg |
| Number of pages | 191 |
| ISBN (Print) | 978-3-658-28593-7 |
| DOIs | |
| Publication status | Published - Jan 2020 |
Fields of science
- 203015 Mechatronics
- 203022 Technical mechanics
- 202 Electrical Engineering, Electronics, Information Engineering
- 202035 Robotics
- 203013 Mechanical engineering