An explicit approach for time‐optimal trajectory planning for kinematically redundant serial robots. Issue 1 (21st October 2015)

• Record Type: Journal Article
• Authors: Reiter, Alexander; Springer, Klemens; Gattringer, Hubert; Müller, Andreas
• Is Part Of: Proceedings in applied mathematics and mechanics. Volume 15:Issue 1(2015)
• Page Start: 67
• Page End: 68
• Publication Date: 2015-10-21
• Subjects: Applied mathematics -- Periodicals; Engineering mathematics -- Periodicals; Mathematical physics -- Periodicals; 519
• DOI: 10.1002/pamm.201510024
• Languages: English
• ISSNs: 1617-7061

Abstract

<abstract abstract-type="main" xml:lang="en"> <title>Abstract</title> <p>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 &amp; Co. KGaA, Weinheim)</p> </abstract>