Optimum Trajectory Planning for Redundant Manipulators Through Inverse Dynamics

Abstract

The purpose of this thesis is to develop methods to generate minimum-energy consumption trajectories for a point-to-point motion under pre-defined kinematic and dynamic constraints for robotic manipulators. With respect to other trajectory optimization methods, the work presented in this thesis provides two new methods to the scientific literature. The proposed methods improve the handling of the constraints in trajectory optimization methods as well as reducing the computational complexity of redundant/hyper-redundant manipulator systems.

Date of Award	1 Dec 2012
Original language	English
Awarding Institution	University of Bath
Supervisor	Mehmet Sahinkaya (Supervisor) & Pejman Iravani (Supervisor)