Alexander Reiter Book order

Focusing on optimal path and trajectory planning for serial robots, the book delves into the complexities of path tracking for kinematically redundant manipulators. It addresses both path tracking tasks and optimal inverse kinematics simultaneously. The author introduces methods for quickly computing approximate optimal solutions to planning challenges with varying parameters, employing an iterative process based on parametric sensitivities to efficiently derive solutions from a nominal problem.

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.