Velocity Blending for Real � Time Trajectory Generation Richard

This paper presents a new velocity blending approach to the problem of task space trajectory generation To com pare this technique with others a generalized formulation for task space trajectory blending is also developed It is shown that task space velocity blending provides a substan tial simpli cation in both representation and computational complexity over previously proposed methods While some residual orientation error is incurred by mathematical ap proximations it is analytically shown that this error is small and a correction method is provided Finally examples are given our real time implementation is described and im plementational considerations are addressed