机器人学基础_第7章_机器人轨迹规划_蔡自兴.pptVIP

Given: positions desired time durations the magnitudes of the accelerations Compute: blends times straight segment times slopes (velocities) signed accelerations * 7.2 Joint–Space Schemes 7.2.5 Linear function with parabolic blendsfor a path with via points Inside segment: * 7.2 Joint–Space Schemes 7.2.5 Linear function with parabolic blendsfor a path with via points First segment: * 7.2 Joint–Space Schemes 7.2.5 Linear function with parabolic blendsfor a path with via points Last segment: * 7.2 Joint–Space Schemes 7.2.5 Linear function with parabolic blendsfor a path with via po