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Erschienen in:
2010 | OriginalPaper | Buchkapitel
Solution in Multi-dimensional Space
verfasst von : Torsten Kröger
Erschienen in: On-Line Trajectory Generation in Robotic Systems
Verlag: Springer Berlin Heidelberg
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The previous chapter introduced the concept of OTG for one single DOF. This chapter extends the proposed class of algorithms to the multi-dimensional case, and we will see how to fulfill the
time-synchronization criterion
. The OTG algorithm in multi-dimensional space consists of three basic steps; the first step is based on the methodologies introduced in Chap. 4. Finally, this concept will be suitable as a submodule in a hybrid switched-system controller for a robotic system with multiple DOFs. As in the previous chapter, we first introduce the general OTG algorithm, and subsequently, the Type IV OTG algorithm is exemplarily outlined.