The Three-Cubic Method: An Optimal Online Robot Joint Trajectory Generator under Velocity, Acceleration, and Wandering Constraints

Bertrand Tondu, Shafaat Ahmed Bazaz. The Three-Cubic Method: An Optimal Online Robot Joint Trajectory Generator under Velocity, Acceleration, and Wandering Constraints. I. J. Robotic Res., 18(9):893-901, 1999. [doi]

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