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Optimal Trajectory Planning and Model Predictive Control for Elastic and Kinematically Redundant Multibody Syst, Schriftenreihe Advances in Mechatronics, Bd. 31Springer · alle anzeigen

Optimal Trajectory Planning and Model Predictive Control for Elastic and Kinematically Redundant Multibody Syst, Schriftenreihe Advances in Mechatronics, Bd. 31


128 Seiten, 17 x 24 cm, broschiert
1. Auflage 2016

ISBN 978-3-99033-615-1
Art. Nr. 20190311
per E-Mail weiterleiten
 
EUR 19,80
inkl. USt. zzgl. Versandkosten
In den Warenkorb


Automation and production industry is seeking for high-speed robotic multibody systems, that fulfill the increasing demand for high-performance and low-cost processes. Therefore, extensive research is being undertaken in the field of optimal path planning and optimal trajectory control for lightweight robots.
 
In the first part of this book, strategies for time-optimal trajectory planning for elastic as well as kinematically redundant multibody systems are developed. Furthermore, an approach for online time-optimal point-to-point planning is presented.
 
The second part of the thesis focuses on three different formulations for model predictive control of nonlinear systems and its implementations. A final verification shows, that a flatness-based model predictive controller in combination with a position controlled system is able to cope with state constraints of arbitrary order as well as highly dynamical tasks such as vibration damping.
 
Due to the fact, that all methods are implemented at real robots, the target audience includes not only researchers from academia but also professionals from industry.