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On-Line Trajectory Generation in Robotic Systems [2010]
- 1
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Introduction
- 11
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Literature Survey: Trajectory Generation in and Control of Robotic Systems
- 33
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Mathematical Conventions and Problem Formulation
- 45
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Solution for One Degree of Freedom
- 69
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Solution in Multi-dimensional Space
- 99
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On-Line Generation of Homothetic Trajectories
- 105
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Hybrid Switched-System Control for Robotic Systems
- 137
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Experimental Results and Applications
- 159
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Further Discussion
- 179
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Summary, Future Work, and Conclusion
