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Time-Optimal Trajectory Planning for Redundant Robots: Joint Space Decomposition for Redundancy Resolution in Non-Linear Optimization - BestMasters Alexander Reiter 1st ed. 2016 edition
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Time-Optimal Trajectory Planning for Redundant Robots: Joint Space Decomposition for Redundancy Resolution in Non-Linear Optimization - BestMasters
Alexander Reiter
This master's thesis presents a novel approach to finding trajectories with minimal end time for kinematically redundant manipulators. Minimum-time trajectories may yield economic advantages as a shorter trajectory duration results in a lower task cycle time.
90 pages, 35 black & white illustrations, 5 black & white tables, biography
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