1 | initial version |

Linear interpolation for tool space movements is often accomplished by using the “Linear Segments with Parobolic Blends” method. Such a method is required to account for physical motor limitations of instantaneous velocity changes. Refer to chapter five in this text in http://bayanbox.ir/view/8445052974254475991/Robot-Modeling-and-Control-Spong.pdf. Page 177 introduces Linear Segments with Parobolic Blends. Use these equations in tool space (Cartesian xyz).

Step 1) define goal points (i.e. taught points) Step 2) solve LSPB for x, y, z which gives all the needed waypoints Step 3) convert each waypoint to joint space using IK.

2 | No.2 Revision |

Linear interpolation for tool space movements is often accomplished by using the “Linear Segments with Parobolic Blends” (LSPB) method. Such a method is required to account for physical motor limitations of instantaneous velocity changes. Refer to chapter five in this text in http://bayanbox.ir/view/8445052974254475991/Robot-Modeling-and-Control-Spong.pdf. Page 177 introduces Linear Segments with Parobolic Blends. Use these equations in tool space (Cartesian xyz).

this is also a good , generalsource http://www-lar.deis.unibo.it/people/cmelchiorri/Files_Robotica/FIR_07_Traj_4.pdf

Step 1) define goal points (i.e. taught ~~points)
~~points..)
Step 2) solve LSPB ~~for ~~along the vectors connecting the goal points (solving x, y, z components independently) which gives all the needed waypoints
Step 3) convert each waypoint to joint space using IK.

3 | No.3 Revision |

Linear interpolation for tool space movements is often accomplished by using the “Linear Segments with Parobolic Blends” (LSPB) method. Such a method is required to account for physical motor limitations ~~of ~~such as instantaneous velocity changes. Refer to chapter five in this text in http://bayanbox.ir/view/8445052974254475991/Robot-Modeling-and-Control-Spong.pdf. Page 177 introduces Linear Segments with Parobolic Blends. Use these equations in tool space (Cartesian xyz).

this is also a good , generalsource http://www-lar.deis.unibo.it/people/cmelchiorri/Files_Robotica/FIR_07_Traj_4.pdf

Step 1) define goal points (i.e. taught points..) Step 2) solve LSPB along the vectors connecting the goal points (solving x, y, z components independently) which gives all the needed waypoints Step 3) convert each waypoint to joint space using IK.

4 | No.4 Revision |

Linear interpolation for tool space movements is often accomplished by using the “Linear Segments with Parobolic Blends” (LSPB) method. Such a method is required to account for physical motor limitations such as instantaneous velocity changes. Refer to chapter five in this text in http://bayanbox.ir/view/8445052974254475991/Robot-Modeling-and-Control-Spong.pdf. Page 177 introduces Linear Segments with Parobolic Blends. Use these equations in tool space (Cartesian xyz).

this is also a good ~~, generalsource ~~trajectory generation source http://www-lar.deis.unibo.it/people/cmelchiorri/Files_Robotica/FIR_07_Traj_4.pdf

Step 1) define goal points (i.e. taught points..) Step 2) solve LSPB along the vectors connecting the goal points (solving x, y, z components independently) which gives all the needed waypoints Step 3) convert each waypoint to joint space using IK.

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