Velocity Blending for Real - Time Trajectory
نویسنده
چکیده
This paper presents a new velocity blending approach to the problem of task space trajectory generation. To compare this technique with others, a generalized formulation for task space trajectory blending is also developed. It is shown that task space velocity blending provides a substantial simpliication in both representation and computational complexity over previously proposed methods. While some residual orientation error is incurred by mathematical approximations , it is analytically shown that this error is small and a correction method is provided. Finally, examples are given, our real-time implementation is described, and im-plementational considerations are addressed.
منابع مشابه
Velocity Blending for Real � Time Trajectory Generation Richard
This paper presents a new velocity blending approach to the problem of task space trajectory generation To com pare this technique with others a generalized formulation for task space trajectory blending is also developed It is shown that task space velocity blending provides a substan tial simpli cation in both representation and computational complexity over previously proposed methods While ...
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