机器人系统在线轨迹生成

多约束条件的轨迹规划与生成技术，摘要如下：Thecorepartderivesaclassofalgorithmsthatgeneratemotiontrajectoriesforroboticssystemson-line,thatis,withinonecontrolcycle(typicallyonemillisecondorless).Suchanalgorithmisexecutedinparalleltolow-levelmotioncontrollers,andsystemsusingitareabletoreactinstantaneouslytou