Titlebook: On-Line Trajectory Generation in Robotic Systems; Basic Concepts for I Torsten Kr?ger Book 2010 Springer-Verlag Berlin Heidelberg 2010 Traj

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On-Line Generation of Homothetic Trajectories,pecial case that is a very relevant one in practice: on-line generation of homothetic trajectories. These trajectories are one-dimensional straight-lines in a multidimensional space and are relevant for all straight-line motion operations in robotics. For the realization of this additional feature,

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Experimental Results and Applications,l using on-line trajectory generation. While these four parts can be considered as formal and theoretical descriptions, we will discuss concrete experimental results in this chapter. The aim is to show how easily the OTG algorithm can be used in practice, and what new, essential possibilities of rob

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Mathematical Conventions and Problem Formulation,r the context of this monograph. Besides the introduction of these, we introduce a basic classification of different types and variants of on-line trajectory generation. Based on these first two sections in this chapter, the problem formulation in the introductory chapter is subsequently repeated in a formal way.

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