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100   $a20191106d2020      uy             0
101 0 $aeng
135   $aurcnu||||||||
181   $ctxt$2rdacontent
182   $cc$2rdamedia
183   $acr$2rdacarrier
200 10$aOptimal path and trajectory planning for serial robots $einverse kinematics for redundant robots and fast solution of parametric problems /$fAlexander Reiter
205   $a1st edition 2020.
210  1$aWiesbaden :$cSpringer Fachmedien Wiesbaden :$cImprint: Springer Vieweg,$d2020.
215   $a1 online resource (xx, 191 pages) $cillustrations (some color)
311 1 $a3-658-28593-1 
327   $aKinematics of Serial Robots -- Optimal Path and Trajectory Planning -- Optimal Path Tracking.
330   $aAlexander 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. Contents Kinematics of Serial Robots Optimal Path and Trajectory Planning Optimal Path Tracking Target Groups Scientists and master students in the fields of mechatronics, robotics and automation technology Practitioners in the same fields in industrial research and development 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.
606   $aRobotics
606   $aRobots$xKinematics
615  0$aRobotics.
615  0$aRobots$xKinematics.
676   $a629.892
700   $aReiter$b Alexander$4aut$4http://id.loc.gov/vocabulary/relators/aut$0764114
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906   $aBOOK
912   $a9910483374603321
996   $aOptimal Path and Trajectory Planning for Serial Robots$92013041
997   $aUNINA