Version 1.0, August 31, 2001, Copyright, Hugh Jack 1993-2001
· Path Planning is a simple process where the path planning methods described before (such as straight line motion) are used before the movement begins, and then a simple real-time lookup table is used.
· The path planner puts all of the values in a trajectory table
· The on-line path controller will look up values from the trajectory table at predetermined time, and use these as setpoints for the controller.
· The effect of the two tier structure is that the robot is always shooting for the next closest `knot-point' along the path.
· The above scheme leads to errors between the planned, and actual path, and lurches occur when the new setpoints are updated for each servo motor.
· The quantization of the desired position requires a decision of what value to use, and this value is fixed for a finite time.
· The result is that the path will tend to look somewhat bumpy,
