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(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 non-zero 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.