A middleware interface employs n-degree polynomial interpolation and quadratic programming to produce smooth, real-time end-effector trajectories for collaborative arms, validated in offline drawing, dynamic grasping, and teleoperation experiments.
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One Interface, Many Robots: Unified Real-Time Low-Level Motion Planning for Collaborative Arms
A middleware interface employs n-degree polynomial interpolation and quadratic programming to produce smooth, real-time end-effector trajectories for collaborative arms, validated in offline drawing, dynamic grasping, and teleoperation experiments.