*"How Close Do You Have to Specify Points In a Contouring Application?"
*How Close Do You Have to Specify Points In a Contouring Application?
*"Precision Contouring Error Analysis"
*Precision Contouring Error Analysis
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Comment: how to generate quintic splines that approximate reference trajectory, how to generate jerk limited feedrate trajectory with arbitrary feedrates at beginning and end (involves iteratice solution on 3rd order polynomial system of equations). How to combine these by re-sampling the spline trajectory at servo loop rate.
Smooth Time Optimal Trajectory Planning for Industrial Manipulators