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Optimal Path and Trajectory Planning for Serial Robots

- Inverse Kinematics for Redundant Robots and Fast Solution of Parametric Problems
Af: Alexander Reiter Engelsk Paperback

Optimal Path and Trajectory Planning for Serial Robots

- Inverse Kinematics for Redundant Robots and Fast Solution of Parametric Problems
Af: Alexander Reiter Engelsk Paperback
Tjek vores konkurrenters priser

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.

About the Author:

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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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.

About the Author:

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.

Produktdetaljer
Sprog: Engelsk
Sider: 191
ISBN-13: 9783658285937
Indbinding: Paperback
Udgave:
ISBN-10: 3658285931
Udg. Dato: 21 nov 2019
Længde: 0mm
Bredde: 148mm
Højde: 210mm
Forlag: Springer Fachmedien Wiesbaden
Oplagsdato: 21 nov 2019
Forfatter(e): Alexander Reiter
Forfatter(e) Alexander Reiter


Kategori Automatisk styrings- & reguleringsteknik


ISBN-13 9783658285937


Sprog Engelsk


Indbinding Paperback


Sider 191


Udgave


Længde 0mm


Bredde 148mm


Højde 210mm


Udg. Dato 21 nov 2019


Oplagsdato 21 nov 2019


Forlag Springer Fachmedien Wiesbaden

Kategori sammenhænge