Time Optimal Trajectory Planning For Redundant Robots
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Time Optimal Trajectory Planning For Redundant Robots
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Author : Alexander Reiter
language : en
Publisher: Springer
Release Date : 2016-03-11
Time Optimal Trajectory Planning For Redundant Robots written by Alexander Reiter and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2016-03-11 with Technology & Engineering categories.
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.
Trajectory Planning For Automatic Machines And Robots
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Author : Luigi Biagiotti
language : en
Publisher: Springer Science & Business Media
Release Date : 2008-10-23
Trajectory Planning For Automatic Machines And Robots written by Luigi Biagiotti and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2008-10-23 with Technology & Engineering categories.
This book deals with the problems related to planning motion laws and t- jectories for the actuation system of automatic machines, in particular for those based on electric drives, and robots. The problem of planning suitable trajectories is relevant not only for the proper use of these machines, in order to avoid undesired e?ects such as vibrations or even damages on the mech- ical structure, but also in some phases of their design and in the choice and sizing of the actuators. This is particularly true now that the concept of “el- tronic cams” has replaced, in the design of automatic machines, the classical approach based on “mechanical cams”. The choice of a particular trajectory has direct and relevant implications on several aspects of the design and use of an automatic machine, like the dimensioning of the actuators and of the reduction gears, the vibrations and e?orts generated on the machine and on the load, the tracking errors during the motion execution. For these reasons, in order to understand and appreciate the peculiarities of the di?erent techniques available for trajectory planning, besides the ma- ematical aspects of their implementation also a detailed analysis in the time and frequency domains, a comparison of their main properties under di?erent points of view, and general considerations related to their practical use are reported.
Parallel Genetic Algorithms
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Author : Gabriel Luque
language : en
Publisher: Springer Science & Business Media
Release Date : 2011-06-15
Parallel Genetic Algorithms written by Gabriel Luque and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2011-06-15 with Computers categories.
This book is the result of several years of research trying to better characterize parallel genetic algorithms (pGAs) as a powerful tool for optimization, search, and learning. Readers can learn how to solve complex tasks by reducing their high computational times. Dealing with two scientific fields (parallelism and GAs) is always difficult, and the book seeks at gracefully introducing from basic concepts to advanced topics. The presentation is structured in three parts. The first one is targeted to the algorithms themselves, discussing their components, the physical parallelism, and best practices in using and evaluating them. A second part deals with the theory for pGAs, with an eye on theory-to-practice issues. A final third part offers a very wide study of pGAs as practical problem solvers, addressing domains such as natural language processing, circuits design, scheduling, and genomics. This volume will be helpful both for researchers and practitioners. The first part shows pGAs to either beginners and mature researchers looking for a unified view of the two fields: GAs and parallelism. The second part partially solves (and also opens) new investigation lines in theory of pGAs. The third part can be accessed independently for readers interested in applications. The result is an excellent source of information on the state of the art and future developments in parallel GAs.
Robot Systems For Rail Transit Applications
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Author : Hui Liu
language : en
Publisher: Elsevier
Release Date : 2020-06-27
Robot Systems For Rail Transit Applications written by Hui Liu and has been published by Elsevier this book supported file pdf, txt, epub, kindle and other format this book has been release on 2020-06-27 with Technology & Engineering categories.
Robot Systems for Rail Transit Applications presents the latest advances in robotics and artificial intelligence for railway systems, giving foundational principles and running through special problems in robot systems for rail transit. State-of-the art research in robotics and railway systems is presented alongside a series of real-world examples. Eight chapters give definitions and characteristics of rail transit robot systems, describe assembly and collaborative robots in manufacturing, introduce automated guided vehicles and autonomous rail rapid transit, demonstrate inspection robots, cover trench robots, and explain unmanned aerial vehicles. This book offers an integrated and highly-practical way to approach robotics and artificial intelligence in rail-transit. - Introduces robot and artificial intelligence (AI) systems for rail transit applications - Presents research alongside step-by-step coverage of real-world cases - Gives the theoretical foundations underlying practical application - Offers solutions for high-speed railways from the latest work in robotics - Shows how robotics and AI systems afford new and efficient methods in rail transit
Optimal Path And Trajectory Planning For Serial Robots
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Author : Alexander Reiter
language : en
Publisher: Springer Nature
Release Date : 2019-11-06
Optimal Path And Trajectory Planning For Serial Robots written by Alexander Reiter and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2019-11-06 with Technology & Engineering categories.
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.
Intelligent Robotics And Applications
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Author : Xin-Jun Liu
language : en
Publisher: Springer Nature
Release Date : 2021-10-17
Intelligent Robotics And Applications written by Xin-Jun Liu and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2021-10-17 with Computers categories.
The 4-volume set LNAI 13013 – 13016 constitutes the proceedings of the 14th International Conference on Intelligent Robotics and Applications, ICIRA 2021, which took place in Yantai, China, during October 22-25, 2021. The 299 papers included in these proceedings were carefully reviewed and selected from 386 submissions. They were organized in topical sections as follows: Robotics dexterous manipulation; sensors, actuators, and controllers for soft and hybrid robots; cable-driven parallel robot; human-centered wearable robotics; hybrid system modeling and human-machine interface; robot manipulation skills learning; micro_nano materials, devices, and systems for biomedical applications; actuating, sensing, control, and instrumentation for ultra-precision engineering; human-robot collaboration; robotic machining; medical robot; machine intelligence for human motion analytics; human-robot interaction for service robots; novel mechanisms, robots and applications; space robot and on-orbit service; neural learning enhanced motion planning and control for human robot interaction; medical engineering.
Swarm Intelligence Based Optimization
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Author : Patrick Siarry
language : en
Publisher: Springer
Release Date : 2014-11-27
Swarm Intelligence Based Optimization written by Patrick Siarry and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2014-11-27 with Computers categories.
This book constitutes the thoroughly refereed post-conference proceedings of the 1st International Conference on Swarm Intelligence Based Optimization, ICSIBO 2014, held in Mulhouse, France, in May 2014. The 20 full papers presented were carefully reviewed and selected from 48 submissions. Topics of interest presented and discussed in the conference focuses on the theoretical progress of swarm intelligence metaheuristics and their applications in areas such as: theoretical advances of swarm intelligence metaheuristics, combinatorial, discrete, binary, constrained, multi-objective, multi-modal, dynamic, noisy, and large-scale optimization, artificial immune systems, particle swarms, ant colony, bacterial foraging, artificial bees, fireflies algorithm, hybridization of algorithms, parallel/distributed computing, machine learning, data mining, data clustering, decision making and multi-agent systems based on swarm intelligence principles, adaptation and applications of swarm intelligence principles to real world problems in various domains.
Robots Manipulators
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Author : John X. Liu
language : en
Publisher: Nova Publishers
Release Date : 2005
Robots Manipulators written by John X. Liu and has been published by Nova Publishers this book supported file pdf, txt, epub, kindle and other format this book has been release on 2005 with Technology & Engineering categories.
This book deals with control and learning in robotic systems.
Advances In Mechanism And Machine Science
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Author : Tadeusz Uhl
language : en
Publisher: Springer
Release Date : 2019-06-13
Advances In Mechanism And Machine Science written by Tadeusz Uhl and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2019-06-13 with Technology & Engineering categories.
This book gathers the proceedings of the 15th IFToMM World Congress, which was held in Krakow, Poland, from June 30 to July 4, 2019. Having been organized every four years since 1965, the Congress represents the world’s largest scientific event on mechanism and machine science (MMS). The contributions cover an extremely diverse range of topics, including biomechanical engineering, computational kinematics, design methodologies, dynamics of machinery, multibody dynamics, gearing and transmissions, history of MMS, linkage and mechanical controls, robotics and mechatronics, micro-mechanisms, reliability of machines and mechanisms, rotor dynamics, standardization of terminology, sustainable energy systems, transportation machinery, tribology and vibration. Selected by means of a rigorous international peer-review process, they highlight numerous exciting advances and ideas that will spur novel research directions and foster new multidisciplinary collaborations.
Intelligent Robotics And Applications
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Author : YongAn Huang
language : en
Publisher: Springer
Release Date : 2017-08-04
Intelligent Robotics And Applications written by YongAn Huang and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2017-08-04 with Computers categories.
The three volume set LNAI 10462, LNAI 10463, and LNAI 10464 constitutes the refereed proceedings of the 10th International Conference on Intelligent Robotics and Applications, ICIRA 2017, held in Wuhan, China, in August 2017. The 235 papers presented in the three volumes were carefully reviewed and selected from 310 submissions. The papers in this third volume of the set are organized in topical sections on sensors and actuators; mobile robotics and path planning; virtual reality and artificial intelligence; aerial and space robotics; mechatronics and intelligent manufacturing.