台大机器人学——林沛群 Linear Function with Parabolic Blends 轨迹规划法1.缘由在很多类型的任务上均需要使用直线轨迹;轨迹中若包含多个直线段轨迹,线段间转择点速度不连续;该方法保证直线的同时,保证直线…
针对时间t，写出轨迹方程，如直线段和二次段的方程。使用kinematic方程进行计算，对于二次段依次进行后向计算。总结：Linear Function with Parabolic Blends轨迹规划法通过结合线性函数和抛物线函数，实现了圆滑且高效的轨迹运动，但在实际应用中需考虑多种因素的限制，并通过合理的编程实现来满足特定需求。
at the beginning and at the end point. In order to overcome this problem, this paper proposes a novel method of designing a trajectory using full cycloid and semi function. This paper also compares trajectories generated by linear trajectory with parabolic blends, fully cycloid function and semi ...