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A motion planning scheme that combines the advantage of Modified Tension Spline and a convex optimization framework to accomplish the path planning and path tracking stage, respectively, is compared through simulation results and tested on a 7-axis robot. The flexibility of the convex optimization framework is shown through removing and adding new constraints or objective function according to robot...
An optimized trajectory of multi-axis robotic manipulators is important and directly influences the performance of the executing task. In manipulators of seven or more axis, this optimization involves considerations regarding continuity of position and velocity in both Cartesian and joint space coordinates. In this paper, two trajectory generation algorithms are applied on a 7-axis manipulator for...
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