Minimum-time Trajectory Planning for Industrial Robots with General Torque Constraints PDF Download
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Author: Kang G. Shin
Publisher:
ISBN:
Category : Locomotion
Languages : en
Pages : 41
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Book Description
Author: Kang G. Shin
Publisher:
ISBN:
Category : Locomotion
Languages : en
Pages : 41
Get Book Here
Book Description
Author: Kang G. Shln
Publisher:
ISBN:
Category :
Languages : en
Pages : 46
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Book Description
Author: Jiesheng Xu (PhD.)
Publisher:
ISBN:
Category : Manipulators (Mechanism)
Languages : en
Pages : 408
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Book Description
Author: Sunil Kumar Singh
Publisher:
ISBN:
Category : Robots, Industrial
Languages : en
Pages : 216
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Book Description
Author: Vladimir Lukanin
Publisher: LAP Lambert Academic Publishing
ISBN: 9783659209505
Category :
Languages : en
Pages : 116
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Book Description
In the last three decades mechanisms with parallel kinematical structures have caught the attention of researchers in the field of robotics. This class of equipment can be preferable to serial chain mechanisms in industrial applications due to the exclusive structural properties. This book is dedicated to the kinematics of 3-DOF parallel manipulators. AUTRAP concept for the trajectory planning of serial manipulators is described in the final chapter of the book. This approach provides an extra possibility for robot motion planning based on the methods of the motion optimization for serial robots. This book is useful to specialists in Robotics and Mechanical Engineering.
Author: kang g. shin
Publisher:
ISBN:
Category :
Languages : en
Pages : 36
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Book Description
Author: Musa Khalil Jouaneh
Publisher:
ISBN:
Category :
Languages : en
Pages : 298
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Book Description
Author: Alexander Reiter
Publisher: Springer
ISBN: 3658127015
Category : Technology & Engineering
Languages : en
Pages : 100
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Book Description
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.
Author: A. Subhash Chandra Bose
Publisher:
ISBN:
Category :
Languages : en
Pages : 486
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Book Description
Author: Luigi Biagiotti
Publisher: Springer
ISBN: 9783642099236
Category : Technology & Engineering
Languages : en
Pages : 0
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Book Description
This book deals with the problems related to planning motion laws and t- jectories for the actuation system of automatic machines, in particular for those based on electric drives, and robots. The problem of planning suitable trajectories is relevant not only for the proper use of these machines, in order to avoid undesired e?ects such as vibrations or even damages on the mech- ical structure, but also in some phases of their design and in the choice and sizing of the actuators. This is particularly true now that the concept of “el- tronic cams” has replaced, in the design of automatic machines, the classical approach based on “mechanical cams”. The choice of a particular trajectory has direct and relevant implications on several aspects of the design and use of an automatic machine, like the dimensioning of the actuators and of the reduction gears, the vibrations and e?orts generated on the machine and on the load, the tracking errors during the motion execution. For these reasons, in order to understand and appreciate the peculiarities of the di?erent techniques available for trajectory planning, besides the ma- ematical aspects of their implementation also a detailed analysis in the time and frequency domains, a comparison of their main properties under di?erent points of view, and general considerations related to their practical use are reported.
