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Title: Trajectory planning of redundant planar mechanisms for reducing task completion duration
Authors: Uzunoğlu, Emre
Dede, Mehmet İsmet Can
Kiper, Gökhan
Mastar, Ercan
Sığırtmaç, Tayfun
Keywords: Trajectory planning
Redundant manipulator
Redundancy resolution
Issue Date: 3-Jun-2014
Publisher: Springer
Source: Uzunoğlu, E., Dede, M. İ. C., Kiper, G., Mastar, E., & Sığırtmaç, T. (2014). Trajectory planning of redundant planar mechanisms for reducing task completion duration. In: Ceccarelli, M., & Glazunov, V. A. (Eds.). Advances on Theory and Practice of Robots and Manipulators: Proceedings of Romansy 2014 XX CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators, (pp. 215-223). Switzerland: Springer. doi:10.1007/978-3-319-07058-2_25
Abstract: In the industry there is always a demand to shorten the task completion durations in order to maximize the efficiency of the operation. This work aims to provide a solution to minimize the task completion duration for planar tasks by in-troducing kinematic redundancy. An example setting of a redundant planar mech-anism is considered and an algorithm developed for resolving redundancy order to minimize task completion duration is discussed based on this mechanism.
ISBN: 978-3-319-07057-5
Appears in Collections:Mechanical Engineering / Makina Mühendisliği
Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection

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