Potkonjak, Veljko; Tzafestas, Spyros; Kostic, Dragan - In: Mathematics and Computers in Simulation (MATCOM) 54 (2000) 1, pp. 145-157
This paper is concerned with the trajectory definition in robot tasks. Although very often ignored, the specification of robot motion is not the first step in the definition of a robot task. The task definition starts with the description of the final outcome, i.e. with the specification of the...