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ICRA
1993
IEEE

Task Space Velocity Blending for Real-Time Trajectory Generation

10 years 6 months ago
Task Space Velocity Blending for Real-Time Trajectory Generation
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 simpli cation 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 implementational considerations are addressed.
Richard Volpe
Added 08 Aug 2010
Updated 08 Aug 2010
Type Conference
Year 1993
Where ICRA
Authors Richard Volpe
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