Intermediary Real-Time Trajectory Interpolating with Cubic Hermite Splines
Real-time trajectory interpolation allows a Python-based sensor-integrating application to real-time control a Franka Emika robot. Application development in Python is much faster and easier than in C++. When robot motion generation for a processing task is dependent on real-time sensor feed-back from the processing tool, the motion must be, by it’s nature, generated at the temporal micro to meso level in real-time. Some open robot controllers allow real-time trajectory feeding at the micro level. These are obvious candidates for such real-time sensor-based motion applications. If a given application only requires real-time trajectory generation at the meso level, interpolation may be utilized for alleviating the application from the micro real-time requirement of the robot controller. This, in turn, opens for freedom of choice of the