id	author	title	date	pages	extension	mime	words	sentences	flesch	summary	cache	txt
work_qn7zm7yw3jaupivakvizv4usz4	Morten Lind	Real-time quintic Hermite interpolation for robot trajectory execution	2020	13	.pdf	application/pdf	5629	569	59	This paper presents a real-time joint trajectory interpolation system for the purpose of frequency scaling the low cycle time of a robot controller, allowing a Python application implemented, demonstrating real-time feeding of a pre-calculated trajectory for cutting Keywords Interpolation, Robotics, Real-time, Python, Joint control, Trajectory Newer robot controllers are getting increasingly open towards real-time trajectory feeding. Real-time quintic Hermite interpolation for robot trajectory execution. enabling joint-level control in 100 Hz. Developing sensor-based, real-time robot control applications is challenging. paths in a distributed, real-time, sensor-based robot application implemented and deployed The seven-axis Panda robot from Franka Emika can be controlled in real-time through Several other robot controllers provide real-time interfaces for trajectory feeding at challenge for Python-based real-time trajectory feeding application. motion service, and thus control the robot arm in a moderate real-time frequency. • established a re-connectable real-time motion service via the Franka Control Interface Real-time robot trajectory generation with Sensor-based real-time control of industrial robots.	./cache/work_qn7zm7yw3jaupivakvizv4usz4.pdf	./txt/work_qn7zm7yw3jaupivakvizv4usz4.txt