Abstract
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.
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© 2010 Springer-Verlag Berlin Heidelberg
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Kröger, T. (2010). Solution in Multi-dimensional Space. In: On-Line Trajectory Generation in Robotic Systems. Springer Tracts in Advanced Robotics, vol 58. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-05175-3_5
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DOI: https://doi.org/10.1007/978-3-642-05175-3_5
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-05174-6
Online ISBN: 978-3-642-05175-3
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