Planning and execution of straight line manipulator trajectories

  title={Planning and execution of straight line manipulator trajectories},
  author={Russell H. Taylor},
  journal={Ibm Journal of Research and Development},
Recently developed manipulator control languages typically specify motions as sequences of points through which a tool affixed to the end of the manipulator is to pass. The effectiveness of such motion specification formalisms is greatly increased if the tool moves in a straight line between the user-specified points. This paper describes two methods for achieving such straight line motions. The first method is a refinement of one developed in 1974 by R. Paul. Intermediate points are… Expand

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