In automation and robotics, multi-axis motion control is the central element in executing complex, precise, and synchronized motion between and during delicate operations. From robot arms in automated ...

This paper proposes a hierarchical control framework for such robots, using a two-wheeled inverted pendulum with a roll joint (TWIP-R) as a template model. The framework integrates a motion planner ...

Path A series of points joined by straight line segements. Bezier Curve A polynomial curve defined by a list of control points. The curve starts at the first control point and ends at the last one.