Implementation of a second order polynomial industrial robot arm trajectory generator.
Based on the theory of:
R. Haschke, E. Weitnauer, and H. Ritter. “On-line planning of time-optimal, jerk-limited trajectories”. In: 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems. Sept. 2008, pp. 3248–3253. doi: 10.1109/IROS.2008.4650924