Time-Optimal Path Following with Bounded Joint Accelerations and Velocities

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Trajectories.pdf (214.88 KB)
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Kunz, Tobias
Stilman, Mike
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http://hdl.handle.net/1853/42108
Abstract
This paper presents a method to generate the time-optimal trajectroy that exactly follows a given differentiable joint-space path within given bounds on joint accelerations and velocities. We also present a path preprocessing method to make nondifferentiable paths differentiable by adding circular blends.
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2011
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Technical Report
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