The purpose of this thesis is to develop methods to generate minimum-energy consumption trajectories for a point-to-point motion under pre-defined kinematic and dynamic constraints for robotic manipulators. With respect to other trajectory optimization methods, the work presented in this thesis provides two new methods to the scientific literature. The proposed methods improve the handling of the constraints in trajectory optimization methods as well as reducing the computational complexity of redundant/hyper-redundant manipulator systems.
| Identifer | oai:union.ndltd.org:bl.uk/oai:ethos.bl.uk:665377 |
| Date | January 2012 |
| Creators | Ayten, Kagan Koray |
| Contributors | Sahinkaya, Mehmet ; Iravani, Pejman |
| Publisher | University of Bath |
| Source Sets | Ethos UK |
| Detected Language | English |
| Type | Electronic Thesis or Dissertation |
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