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一个 6 关节机器人沿着一条三次曲线通过两个中间点并停止在目标点, 需要计算几个不同的三次曲线? 描述这些三次曲线需要多少系数? 

   一个 6 关节机器人沿着一条三次曲线通过两个中间点并停止在目标点, 需要计算几个不同的三次曲线? 描述这些三次曲线需要多少系数?
机器人学导论 introduction to robotics: mechanics and control
机器人学导论 introduction to robotics: mechanics and control
约翰 J.克雷格 4th Edition
Chapter 7, Problem 1 ↓

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We have a 6-joint robot that needs to move along a cubic polynomial path through two intermediate points and stop at a target point. We need to determine how many different cubic polynomials are required and how many coefficients are needed to describe these  Show more…

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一个 6 关节机器人沿着一条三次曲线通过两个中间点并停止在目标点, 需要计算几个不同的三次曲线? 描述这些三次曲线需要多少系数?
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