Uploaded August 2023 | Updated September 2026, 6 hours ago
This video shows the benefits of our trajectory generation approach that computes fast cubic splines. The motion duration is optimized while respecting the actuators' limits. In contrast to the four other presented state-of-the-art approaches (IPTP, ISP, TOTG) our computed trajectory profiles respect the actuators' limits throughout the whole trajectory and the motion is less jerky. A FRANKA EMIKA robot is used for the benchmark.
This video shows the benefits of our trajectory generation approach that computes fast cubic splines. The motion duration is optimized while respecting the actuators' limits. In contrast to the four other presented state-of-the-art approaches (IPTP, ISP, TOTG) our computed trajectory profiles respect the actuators' limits throughout the whole trajectory and the motion is less jerky. A FRANKA EMIKA robot is used for the benchmark.
