Online Trajectory Generation: Basic Concepts for Instantaneous Reactions to Unforeseen Events

@article{Krger2010OnlineTG,
  title={Online Trajectory Generation: Basic Concepts for Instantaneous Reactions to Unforeseen Events},
  author={Torsten Kr{\"o}ger and Friedrich M. Wahl},
  journal={IEEE Transactions on Robotics},
  year={2010},
  volume={26},
  pages={94-111}
}
This paper introduces a new method for motion-trajectory generation of mechanical systems with multiple degrees of freedom (DOFs). The key feature of this new concept is that motion trajectories are generated online, i.e., within every control cycle, typically every millisecond. This enables systems to react instantaneously to unforeseen and unpredictable (sensor) events at any time instant and in any state of motion. As a consequence, (multi)sensor integration in robotics, in particular the… CONTINUE READING