Abstract
The proposed algorithm of the previous chapter constitutes the heart of this book and will be slightly extended in this chapter. Here, we consider a special case that is a very relevant one in practice: on-line generation of homothetic trajectories. These trajectories are one-dimensional straight-lines in a multidimensional space and are relevant for all straight-line motion operations in robotics. For the realization of this additional feature, the trajectories generated by the OTG algorithm not only have to be time-synchronized, but also phase-synchronized. After the problem has been formulated in the following section, an adaptation of the general OTG algorithm that copes with this new demand is presented in Sec. 6.2.
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© 2010 Springer-Verlag Berlin Heidelberg
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Kröger, T. (2010). On-Line Generation of Homothetic Trajectories. In: On-Line Trajectory Generation in Robotic Systems. Springer Tracts in Advanced Robotics, vol 58. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-05175-3_6
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DOI: https://doi.org/10.1007/978-3-642-05175-3_6
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-05174-6
Online ISBN: 978-3-642-05175-3
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