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Real-time quintic Hermite interpolation for robot trajectory execution
This paper presents a real-time joint trajectory interpolation system for the purpose of frequency scaling the low cycle time of a robot controller, allowing a Python application to real-time control the robot at a moderate cycle time. Interpolation is based on quintic Hermite piece-wise splines. Th...
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| Formato: | Online Artículo Texto |
| Lenguaje: | English |
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PeerJ Inc.
2020
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| Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7924709/ https://www.ncbi.nlm.nih.gov/pubmed/33816955 http://dx.doi.org/10.7717/peerj-cs.304 |