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- A Computational Approach to Real-Time Trajectory Generation for Constrained Mechanical Systems + (A computational approach to generating agg … A computational approach to generating aggressive trajectories in real-time for </br>constrained mechanical systems is presented. The algorithm is based </br>on a combination of nonlinear control theory, spline theory, and sequential </br>quadratic programming. It is demonstrated that real-time trajectory </br>generation for constrained mechanical systems is possible by mapping the</br>problem to one of finding trajectory curves in a lower dimensional space. </br>Performance of the algorithm is compared with existing optimal </br>trajectory generation techniques. Numerical results are reported using the NTG </br>software package. reported using the NTG software package.)