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This paper considers a shortcutting heuristic to smooth jerky trajectories for many-DOF robot manipulators subject to collision constraints, velocity bounds, and acceleration bounds. The heuristic repeatedly picks two points on the trajectory and attempts to replace the intermediate trajectory with a shorter, collision-free segment. Here, we construct segments that interpolate between endpoints with...
This paper presents a novel approach to on-line, robot-motion planning for multiple moving-objects interception with constant acceleration. The position, velocity and acceleration of the free particles TFL are used as a kinematic information to generate the multiple interception trajectory TFP. The polynomial interpolation technique is implemented in a 2 dof robot with an operational space control...
The reentry process of reusable launch vehicle is very complex, so extrapolating the landing area based on original state has significant meaning for the launch vehicle reentry trajectory. This paper presents a method of calculating the landing area based on dynamic programming. The method traces out a nominal resistance boundary curve in energy-resistance space on the premise of meeting all the constraint...
The body of a motion controller comprises of command parser, trajectory planner, position loop and real-time interpolator, pulse generator, and pulse distributor.This paper illustrated design method of a general motion controller using digital pulse interface style. MCU make complex motion plans, the programmable digital hardware generates high frequency pulse trains. An extended DDA circuit is used...
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