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grdwyer / Robot-Assisted-Manufacturing

Apache License 2.0
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Add acceleration to trajectory retiming #19

Closed grdwyer closed 2 years ago

grdwyer commented 3 years ago

Motion is quite jerky with the retiming especially if there is a large angular motion, need to smooth the motion and introduce acceleration (and deceleration)

grdwyer commented 2 years ago

Retiming doesn't seem to take into account the angular change between points.