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

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Title

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

Author

Alexander Reiter

Publisher

Springer

Summary

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.

ISBN

  • 3658285931
  • 978-3658285937

Link

https://www.amazon.com/Optimal-Trajectory-Planning-Serial-Robots/dp/3658285931

Topics

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