Abstract
Trajectory planning is a crucial aspect of economically viable operation of robotic manipulators. For given geometric paths, appropriate joint trajectories are required such that their duration is minimized while physical and technological constraints are fulfilled. Kinematically redundant manipulators are increasingly employed for industrial tasks due to their increased work space and dexterity. In this paper, a novel inverse kinematics based optimization approach for computing minimum-time trajectories is introduced that optimally exploits a manipulator’s kinematical redundancy. Using the example of a planar manipulator, the presented method is shown to outperform conventional optimal control approaches regarding robustness and the resulting trajectory characteristics.
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Acknowledgements
This work has been supported by the Austrian COMET-K2 program of the Linz Center of Mechatronics (LCM), and was funded by the Austrian federal government and the federal state of Upper Austria.
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Reiter, A., Gattringer, H., Müller, A. (2018). On Redundancy Resolution in Minimum-Time Trajectory Planning of Robotic Manipulators Along Predefined End-Effector Paths. In: Madani, K., Peaucelle, D., Gusikhin, O. (eds) Informatics in Control, Automation and Robotics . Lecture Notes in Electrical Engineering, vol 430. Springer, Cham. https://doi.org/10.1007/978-3-319-55011-4_10
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DOI: https://doi.org/10.1007/978-3-319-55011-4_10
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