Titlebook: Optimal Path and Trajectory Planning for Serial Robots; Inverse Kinematics f Alexander Reiter Book 2020 Springer Fachmedien Wiesbaden GmbH,

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was . dependent on the reflections and discoveries of Chemists, Biologists and Mathematicians. But when one alludes to some professional Chemist or Biologist as having affected the history of physics, it can always be countered “to that extent he was . physics, he was being a physicist”. Thus when U

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Introduction,given task. Now it is required to solve a given problem in an . manner. To this end, not only foundational knowledge about kinematics and dynamics of multi-body systems and robotics sub-disciplines emerging therefrom are required, it also necessitates expertise in numerical optimization.

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Kinematics of Serial Robots,s, i.e. disregarding forces and torques acting upon them. As this field is well-researched, the present chapter does not aim to provide a comprehensive discussion of existing methods. Interested readers are referred to general robotics textbooks such as [127] while advanced readers may prefer public

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Path and Trajectory Planning, can exist in the joint space as the sequence of joint positions, and also in the work space as the sequence of configurations the EE assumes. The correspondence between a joint space path and a work space path is given by the forward (and inverse) kinematics of the considered manipulator, cf. Secti

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Conclusion,the mathematical background regarding numerical optimization and therein especially parametric problems, B-spline curves and optimal control problems is required which is provided in this thesis. In addition, robot kinematics, i.e. forward and inverse kinematics on position, velocity and higher deri

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Book 2020th 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 planni

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Conclusion,is required which is provided in this thesis. In addition, robot kinematics, i.e. forward and inverse kinematics on position, velocity and higher derivative level, is also examined rigorously in this thesis as a preparation for more advanced topics.