Simplified Robotics Joint-Space Trajectory Generation with a via Point Using a Single Polynomial
This paper presents novel fourth- and sixth-order polynomials to solve the problem of joint-space trajectory generation with a via point. These new polynomials use a single-polynomial function rather than two-polynomial functions matched at the via point as in previous methods. The problem of infini...
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| Format: | Article |
| Language: | English |
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Hindawi Limited
2013-01-01
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| Series: | Journal of Robotics |
| Online Access: | http://dx.doi.org/10.1155/2013/735958 |