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 | 1 | initial version |
The behavior will be that of a fifth-order polynomial, with start and end boundary conditions of 0 velocities and accelerations. Also called a "minimum jerk" movement in some communities.
| | 2 | No.2 Revision |
The behavior desired position trajectory will be that of a fifth-order polynomial, with start and end boundary conditions of 0 velocities and accelerations. Also called a "minimum jerk" movement in some communities.
| | 3 | No.3 Revision |
The desired position trajectory will be a fifth-order polynomial, with start and end boundary conditions of 0 velocities and accelerations. Also called a "minimum jerk" movement in some communities.
If you omit accelerations, you'll get a cubic spline. If you also omit velocities, you get linear interpolation. This is some documentation I found about this: http://www.ros.org/wiki/robot_mechanism_controllers/JointSplineTrajectoryController
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