Real-time trajectory generation using blend functions

A techniques for transitioning between path segments that is tolerant to dynamic changes arising from sensor inputs is described. The main idea is to blend the segments together in a way that does not require advance knowledge of the paths. It is also possible to decompose the transition into an action which brings to rest the motion along the final path. By adjusting the timing of these two components, one may control the shape of the transition, in both time and space, so as to satisfy different task constraints. >

Authors

• John E. Lloyd
• Vincent Hayward

Keywords

• Shape
• Acceleration
• Polynomials
• Robot programming
• Manipulator dynamics
• Feedback
• Utility programs
• Heuristic
• Solid Line
• Second Derivative
• Constant Speed
• Polynomial Regression
• Null Space
• Examples Of Situations
• Different Sets Of Parameters
• Hermitian Matrix
• Task Constraints
• Curved Space
• Path Changes
• Trajectory Generation
• Goal Position
• Rotation Operation
• Final Path
• Square Of Length
• Shape Transition