de
en
Schliessen
Detailsuche
Bibliotheken
Projekt
Impressum
Datenschutz
Schliessen
Publizieren
Besondere Sammlungen
Digitalisierungsservice
Hilfe
Impressum
Datenschutz
zum Inhalt
Detailsuche
Schnellsuche:
OK
Ergebnisliste
Titel
Titel
Inhalt
Inhalt
Seite
Seite
Im Werk suchen
Shareef, Zeeshan: Path planning and trajectory optimization of delta parallel robot. 2015
Inhalt
Contents
List of Abbreviations
List of Symbols
List of Figures
List of Tables
Introduction
Motivation and Objectives
Main Contributions
Thesis Outline
Literature Review
Path Planning
Trajectory Optimization
On-line Trajectory Tracking
Scientific Gaps
Delta Parallel Robot
Delta Parallel Robot Structure
Kinematics of Delta Parallel Robot
Inverse Kinematics
Forward Kinematics
Jacobian Matrix
Path Planning
Path Planning using Probabilistic Roadmap (PRM)
Learning Phase
Query Phase
Path Planning using Genetic Algorithm
Population Initialization
Cost Function
Selection Method
Crossover
Elitism
Mutation
Pseudo-Code for Genetic Algorithm
Numerical Examples
Example 1
Solution using GA
Solution using PRM
Example 2
Solution using GA
Solution using PRM
Comparison between GA and PRM
Trajectory Optimization
Trajectory Optimization using Phase-Plane Method
Transformation of Joint Space to Path Parameter
Problem Formulation
Phase-Plane Method
Case-1 (Single Switching Point)
Case-2 (Multiple Switching Points)
Trajectory Optimization using Dynamic Programming
Dynamic Programming using Path Parameter
Dynamic Programming using Joint Coordinates
Flaws in Singh and Leu's Algorithm
Joint Selection Criterion
Trajectory Optimization using Discrete Mechanics and Optimal Control
Problem Formulation
Discretization
Boundary Conditions
Practical Implementation
Trajectory Optimization of Predefined Geometrical Path using DMOC
Numerical Example
Example 1
Example 2
Comparison of Different Optimization Techniques
Simultaneous Path Planning and Trajectory Optimization
Problem Formulation
Solution using Discrete Mechanics and Optimal Control (DMOC)
Practical Implementation
Numerical Examples
Example 1
Example 2
Comparison of Simultaneous Path Planning and Trajectory Optimization with Conventional Methods
Summary and Outlook
Summary and Outlook
Future Work
Appendix
Dynamical Model and Energy Equations for Delta Parallel Robot
Dynamical Model of Delta Parallel Robot
Simplifying Hypothesis
Dynamic Parameters
Dynamical Model based on Virtual Work Principle
Energy Equations for Delta Parallel Robot
Algorithms for Path Planning
Algorithm for Path Planning using PRM
Learning Phase
Query Phase
Algorithm for Path Planning using GA
Algorithms for Trajectory Optimization
Dynamic Programming using Path Parameter
Dynamic Programming using Joint Coordinates
Bibliography
Die detaillierte Suchanfrage erfordert aktiviertes Javascript.