Path and Trajectory Planning
A path represents a geometric entity, think, for example, of all points in space a point of a rock sweeps through when thrown. In a robotic motion, it can exist in the joint space as the sequence of joint positions, and also in the work space as the sequence of configurations the EE assumes. The correspondence between a joint space path and a work space path is given by the forward (and inverse) kinematics of the considered manipulator, cf. Section 3.4.1.
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