Abstract
As its title suggests, this thesis is concerned with optimal path and trajectory planning for serial manipulators. For the treatment of this subject, 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 derivative level, is also examined rigorously in this thesis as a preparation for more advanced topics.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
Copyright information
© 2020 Springer Fachmedien Wiesbaden GmbH, part of Springer Nature
About this chapter
Cite this chapter
Reiter, A. (2020). Conclusion. In: Optimal Path and Trajectory Planning for Serial Robots. Springer Vieweg, Wiesbaden. https://doi.org/10.1007/978-3-658-28594-4_6
Download citation
DOI: https://doi.org/10.1007/978-3-658-28594-4_6
Published:
Publisher Name: Springer Vieweg, Wiesbaden
Print ISBN: 978-3-658-28593-7
Online ISBN: 978-3-658-28594-4
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)