Optimal path and trajectory planning for serial robots. Inverse kinematics for redundant robots and fast solution of parametric problems

DOI10.1007/978-3-658-28594-4MaRDI QIDQ5212932zbMATH OpenOpenAlexFDO

Authors Alexander Reiter

Publication date 30 January 2020

Full work available at URL https://doi.org/10.1007/978-3-658-28594-4

Mathematics Subject Classification ID

Research exposition (monographs, survey articles) pertaining to systems and control theory (93-02)

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Cited in

(7)

• A method for online kinematic path planning of kinematically redundant manipulators
• A global approach for the optimal path generation of redundant robot manipulators
• A fast approach for the robust trajectory planning of redunant robot manipulators
• On redundancy resolution in minimum-time trajectory planning of robotic manipulators along predefined end-effector paths
• On the use of adjoint gradients for time-optimal control problems regarding a discrete control parameterization
• Mathematical modeling and simulation of the inverse kinematic of a redundant robotic manipulator using azimuthal angles and spherical polar piecewise interpolation
• A recursive, numerically stable, and efficient simulation algorithm for serial robots

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