The trajectory of the end-effector of the mobile manipulator is generated via a spline in SE(3). When the metric in SE(3) is given by a double geodesic the "notion" of straight line is kept.
Mobile ManipulationAnimations n.1: Straight line trajectory for the end-effector |
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The trajectory of the end-effector of the mobile manipulator is generated via a spline in SE(3). When the metric in SE(3) is given by a double geodesic the "notion" of straight line is kept. |
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