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Optimum trajectory planning for redundant manipulators through inverse dynamics

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.

Identiferoai:union.ndltd.org:bl.uk/oai:ethos.bl.uk:665377
Date January 2012
CreatorsAyten, Kagan Koray
ContributorsSahinkaya, Mehmet ; Iravani, Pejman
PublisherUniversity of Bath
Source SetsEthos UK
Detected LanguageEnglish
TypeElectronic Thesis or Dissertation

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