Využití metod optimalizace pro hledání optimální trajektorie průmyslového robota

Abstract

The goal of this thesis is to find optimal trajectory of industrial robot. In the first part of~the thesis we deal with idea of finding optimum and kinematics of serial manipulators. In the second part we study methods for finding the optimal trajectory and we focus on numerical experiments. Numerical experiments were performed with a robotic arm with two or four joints.