The kinematic model analyzed in the previous chapter allows us to calculate individual positions of the robot: for example, two fixed points A and B. What we are missing now is a way to smoothly move the robot from A to B without a sudden jump of its axes, as shown in Figure II-1.
An illustration of a robot arm placed in space with two parts are marked A and B.
Figure II-1
Smooth movement between two points in space
This second part of the book is all about planning the geometrical path of a movement, making sure it is safe to execute, and then dynamically generating the correct speed for the joint motors in order ...
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