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 introducing kinematic redundancy. An example setting of a redundant planar mechanism is considered and an algorithm developed for resolving redundancy order to minimize task completion duration is discussed based on this mechanism.
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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. (eds) Advances on Theory and Practice of Robots and Manipulators. Mechanisms and Machine Science, vol 22. Springer, Cham. https://doi.org/10.1007/978-3-319-07058-2_25
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DOI: https://doi.org/10.1007/978-3-319-07058-2_25
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