Arbitrary states polynomial-like trajectory (ASPOT) generation

A new method of smooth trajectory generation which can replace the typical polynomial type trajectory was suggested. Position in the form of a 5/sup th/ order polynomial is often used with constraints of initial and final states. A simple polynomial-like trajectory generation method based on zero final state constraints was suggested and named ZSPOT. There is a progress about it by allowing nonzero final constraints and therefore named ASPOT. Using this general concept, ZSPOT is modified more practically. Without watching control issues behind these methods, they are shown only as a new trajectory generation method which is easy to program and can be applied to most systems we handle. The effects of ASPOT are shown through experiments.