% the cup in a straight line and that the gripper remains at a safe These constraints ensure that the gripper approaches % constraints to generate a trajectory that guides the gripper to a cup % joint-space trajectory for a robotic manipulator.
% This example shows how to use generalized inverse kinematics to plan a 具有多个约束的轨迹规划-> %% Plan a Reaching Trajectory With Multiple Kinematic Constraints
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