Appendix B: Trajectory Planning

In this appendix, some methods for trajectory generation in multivariable space are given. The computed trajectories may describe the desired motion of a manipulator for each degree-of-freedom in task space or joint space. Trajectory refers to a time history of position, velocity, and acceleration for each degree-of-freedom.

In order to command the desired motion of the manipulator by a human operator, the capability of specifying trajectories with simple descriptions has originated human–machine interface of a robot. ...

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