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001			86406
003			ES-MaUEC
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007			cr nn 008mamaa
008			160311s2016 gw | s |||| 0|eng d
020			_a9783658127015
040			_aES-MaUEC
050		4	_aTJ211 _b.R458 2016
082	0	4	_a629.8
100	1		_aReiter, Alexander. _9100097 _0Local
245	1	0	_aTime-Optimal Trajectory Planning for Redundant Robots : _bJoint Space Decomposition for Redundancy Resolution in Non-Linear Optimization _cby Alexander Reiter
250			_a1st ed.
260			_aWiesbaden _bSpringer Fachmedien Wiesbaden Vieweg _c2016
300			_a1 recurso en línea (XV, 90 páginas) _b35 ilustraciones
336			_aTexto _btxt _2rdacontent
337			_aelectrónico _bc _2rdamedia
338			_arecurso electrónico _bcr _2rdacarrier
490	0		_aBestMasters
505	0		_aNURBS Curves -- Modeling: Kinematics and Dynamics of Redundant Robots -- Approaches to Minimum-Time Trajectory Planning -- Joint Space Decomposition Approach -- Examples for Applications of Robots.
520	3		_aThis 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. Contents NURBS Curves Modeling: Kinematics and Dynamics of Redundant Robots Approaches to Minimum-Time Trajectory Planning Joint Space Decomposition Approach Examples for Applications of Robots Target Groups Lecturers and Students of Robotics and Automation Industrial Developers of Trajectory Planning Algorithms The Author Alexander Reiter is a Senior Scientist at the Institute of Robotics of the Johannes Kepler University Linz in Austria. His major fields of research are kinematics, dynamics, and trajectory planning for kinematically redundant serial robots.
710	2		_aSpringerLink (Online service) _0Local _9106996
942			_2lcc _cLE
988			_aEBOOK, asignarmaterias , EBSPRINGER
650		7	_aMatemáticas aplicadas _0comprobar BNE19920885281 _2embne _9145503
650	0	7	_aMatemáticas aplicadas _0 _2embne _9145503
856	4	0	_uhttps://go.openathens.net/redirector/universidadeuropea.es?url=https://link.springer.com/book/10.1007/978-3-658-12701-5 _zAcceso a este recurso digital (usuarios Universidad Europea de Madrid)
901			_ai9783658127015
907			_a.b12956843 _b10-10-17 _c21-11-16
998			_am _a_alco _a_vill _b - - _cm _dz _e- _feng _ggw _h0
945			_aTJ211 .R458 2016 EB _g1 _ieBOOK _j0 _lmae _o- _pEUR0.00 _q- _r- _sb _t15 _u0 _v0 _w0 _x0 _y.i11598670 _z06-04-17
999			_c86406 _d86406 _x1