Version 1.0, August 31, 2001, Copyright, Hugh Jack 1993-2001
Some methods provide very rough paths containing jerky motions. To smooth the jerks in paths (as a post processor), a method was suggested by S.Singh and M.C.Leu [1987]. Using the technique of Dynamic Programming, time and energy for a given path are minimized. This method does not account for collisions, but is intended to just be run Off-line. A control strategy is suggested for the manipulator to use on the resulting path. Even though the performance of this method is not given, it looks like a good addition to any a priori programming strategy.