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Optimal Path and Trajectory Planning for Serial Robots: Inverse Kinematics for Redundant Robots and Fast Solution of Parametric Problems by Alexander Reiter

Optimal Path and Trajectory Planning for Serial Robots: Inverse Kinematics for Redundant Robots and Fast Solution of Parametric Problems

by Alexander Reiter
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Book cover type: Paperback
  • ISBN13: 9783658285937
  • Binding: Paperback
  • Subject: N/A
  • Publisher: Springer
  • Publisher Imprint: Springer Vieweg
  • Publication Date:
  • Pages: 191
  • Original Price: EUR 99.99
  • Language: English
  • Edition: 2020
  • Item Weight: 263 grams
  • BISAC Subject(s): Robotics, Engineering (General), and Electrical

From the Back Cover
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.
Contents

  • Kinematics of Serial Robots
  • Optimal Path and Trajectory Planning
  • Optimal Path Tracking
Target Groups
  • Scientists and master students in the fields of mechatronics, robotics and automation technology
  • Practitioners in the same fields in industrial research and development
About the AuthorDr. Alexander Reiter is a senior scientist at the Institute of Robotics of the Johannes Kepler University (JKU) Linz, Austria. His major fields of research are kinematics, dynamics, and trajectory planning for kinematically redundant serial robots as well as real-time methods for solving parametric non-linear programming problems.

Dr. Alexander Reiter is a senior scientist at the Institute of Robotics of the Johannes Kepler University (JKU) Linz, Austria. His major fields of research are kinematics, dynamics, and trajectory planning for kinematically redundant serial robots as well as real-time methods for solving parametric non-linear programming problems.

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