Real-time quintic Hermite interpolation for robot trajectory execution
This paper presents a real-time joint trajectory interpolation system for the purpose of frequency scaling the low cycle time of a robot controller, allowing a Python application to real-time control the robot at a moderate cycle time. Interpolation is based on quintic Hermite piece-wise splines. Th...
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| Format: | Article |
| Language: | English |
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PeerJ Inc.
2020-11-01
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| Series: | PeerJ Computer Science |
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| Online Access: | https://peerj.com/articles/cs-304.pdf |