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Let w(t) be a blended piecewise- linear trajectory through the points {wo, w', w} with segment traversal times of {T} and a blend transition time of AT. Then the blend acceleration a is as in Prop. 4-7-2, and the complete trajectory is: w(t) wo + = a - Aw' T₁ 0≤1 ≤T-AT T₁ + AT)² + Aw'(1-T) T₁ + w₁ T₁ AT <

Let w(t) be a blended piecewise- linear trajectory through the points {wo, w', w} with segment traversal times of {T} and a blend transition time of AT. Then the blend acceleration a is as in Prop. 4-7-2, and the complete trajectory is: w(t) wo + = a - Aw' T₁ 0≤1 ≤T-AT T₁ + AT)² + Aw'(1-T) T₁ + w₁ T₁ AT <

Operations Research : Applications and Algorithms
Operations Research : Applications and Algorithms
4th Edition
ISBN:9780534380588
Author:Wayne L. Winston
Publisher:Wayne L. Winston
Chapter17: Markov Chains
Section17.5: Steady-state Probabilities And Mean First Passage Times
Problem 8P
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Let w(t) be a blended piecewise- linear trajectory through the points {wo, w', w} with segment traversal times of {T} and a blend transition time of AT. Then the blend acceleration a is as in Prop. 4-7-2, and the complete trajectory is: w(t) wo + = a - Aw' T₁ 0≤1 ≤T-AT T₁ + AT)² + Aw'(1-T) T₁ + w₁ T₁ AT <<T₁ + AT (4-7-6) w' + (1-T₁) Aw2 T₂ T₁ + AT ≤1≤T₁ + T₂
Transcribed Image Text:Let w(t) be a blended piecewise- linear trajectory through the points {wo, w', w} with segment traversal times of {T} and a blend transition time of AT. Then the blend acceleration a is as in Prop. 4-7-2, and the complete trajectory is: w(t) wo + = a - Aw' T₁ 0≤1 ≤T-AT T₁ + AT)² + Aw'(1-T) T₁ + w₁ T₁ AT <<T₁ + AT (4-7-6) w' + (1-T₁) Aw2 T₂ T₁ + AT ≤1≤T₁ + T₂
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