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.
CITATION STYLE
Angeles, J. (2014). Trajectory Planning: Continuous-Path Operations (pp. 465–506). https://doi.org/10.1007/978-3-319-01851-5_11
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