{"product_id":"9783658127008","title":"BestMasters: Joint Space Decomposition for Redundancy Resolution in Non-Linear Optimization","description":"\u003ch1\u003eBestMasters: Joint Space Decomposition for Redundancy Resolution in Non-Linear Optimization\u003c\/h1\u003e \u003ch2\u003eReiter, Alexander\u003c\/h2\u003e \u003cp\u003eThis 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.\u003c\/p\u003e\u003cp\u003e\u003c\/p\u003e \u003ch3\u003eDetails\u003c\/h3\u003e \u003cp\u003ePublished by: Springer Vieweg\u003c\/p\u003e \u003cp\u003ePublication Date: 2016-03-22\u003c\/p\u003e \u003cp\u003eFormat: Paperback\u003c\/p\u003e \u003cp\u003eISBN-13: 9783658127008\u003c\/p\u003e \u003cp\u003eDOI: 10.1007\/978-3-658-12701-5\u003c\/p\u003e \u003cp\u003eDimensions: 210cm x148cm\u003c\/p\u003e \u003cp\u003ePages: 90\u003c\/p\u003e ","brand":"Springer Fachmedien Wiesbaden","offers":[{"title":"Default Title","offer_id":47675024277644,"sku":"9783658127008","price":49.49,"currency_code":"USD","in_stock":true}],"thumbnail_url":"\/\/cdn.shopify.com\/s\/files\/1\/0710\/9545\/1788\/files\/9783658127008.jpg?v=1776539708","url":"https:\/\/fh90cf-fv.myshopify.com\/products\/9783658127008","provider":"Late Knight Books and Services, LLC","version":"1.0","type":"link"}