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A new approach to Euler splines

โœ Scribed by I.J. Schoenberg


Publisher
Elsevier Science
Year
1983
Tongue
English
Weight
510 KB
Volume
39
Category
Article
ISSN
0021-9045

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Abstrnct--A robot trajectory planning problem is considered. Using smooth interpolating cubic splines as joint space trajectories, the path is parameterized in terms of time intervals between knots. A minimum time optimization problem is formulated under maximum torque and velocity constraints, and