Quaternion-Based Smooth Trajectory Generator for Via Poses in $\boldsymbol{S\;E(3)}$ Considering Kinematic Limits in Cartesian Space
Why this work is in the frame
A frame that forgets how it found something cannot be audited. These are the routes that admitted this work.
Bibliographic record
Abstract
Smooth position and orientation interpolation has a great effect on the performance of robot manipulators. Interpolation between several via positions can be done in a straightforward manner, which is well covered in the literature. However, generating a suitable trajectory between several orientations is still an open problem. In this letter, we introduce a novel trajectory generator capable of respecting kinematic limits. We address the problem of generating a singularity-free trajectory for multiple via poses in SE(3), while complying with the requirement of C <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">4</sup> continuity. To achieve this, a smooth trapezoidal-like velocity profile and unit quaternions are used. A simulation platform in V-REP based on a 7-DOF lightweight robot, including inverse kinematics and dynamics is used to demonstrate the effectiveness of our trajectory generator.
Fetched live from OpenAlex and de-inverted. Abstracts are not stored in this database: the inverted indexes are 8.6 GB of the frame’s 9.3 GB of text, and the host has 13 GB free.
Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it