Abstract
As a follow-up to Chap. 6, where we studied trajectory planning for pick-and-place operations (PPO), we study in this chapter continuous-path operations. In PPO, the pose, twist, and twist-rate of the EE are specified only at the two ends of the trajectory, the purpose of trajectory planning then being to blend the two end poses with a smooth motion.
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Angeles, J. (2014). Trajectory Planning: Continuous-Path Operations. In: Fundamentals of Robotic Mechanical Systems. Mechanical Engineering Series, vol 124. Springer, Cham. https://doi.org/10.1007/978-3-319-01851-5_11
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DOI: https://doi.org/10.1007/978-3-319-01851-5_11
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-01850-8
Online ISBN: 978-3-319-01851-5
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