Abstract
The execution of a task by a robot generally requires many movements of its end effector. The set of situations corresponding to these moves defines the geometrical trajectories of the operations space and, by the intermediary of coordinates transformation, the trajectories in the joint variables space. A trajectory is, therefore, defined by the application and the geometrical constraints of the robot and its environment. A distinction is generally made between point-to-point trajectories and continuous path trajectories, depending on the number of geometrical constraints applied to the trajectory. Motion results from a particular parametric description of the trajectory where the parameter is time. It is also clear that in addition to the geometrical criteria and constraints, robot motion must respect the performance criteria and constraints relating to its application (eg velocity of motion of a tool), and its own limitations of velocity and acceleration.
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