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An adaptive scheme for robot joint trajectory generation

✍ Scribed by Hsia, T. C. ;Guo, Z. Y. ;Li, L.


Book ID
112186921
Publisher
John Wiley and Sons
Year
1990
Tongue
English
Weight
705 KB
Volume
7
Category
Article
ISSN
0741-2223

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Trajectory generation for mobile robots
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In this paper, first we present different curves used in path generation. We show the advantages and drawbacks of each curve. Next, we propose a method of calculation of a complex smooth path. This smooth path minimizes the integral-square-jerk. Finally, we introduce a variable velocity along the p