Simplified Robotics Joint-Space Trajectory Generation with a via Point Using a Single Polynomial
نویسنده
چکیده
This article presents novel fourthand sixth-order polynomials to solve the problem of jointspace trajectory generation with a via point. These new polynomials use a single function rather than two polynomial functions matched at the via point as in previous methods. The problem of infinite spikes in jerk is also addressed.
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عنوان ژورنال:
- J. Robotics
دوره 2013 شماره
صفحات -
تاریخ انتشار 2013