λ² = λ_max² · max(0, 1 − (σ_min/σ_thr)²) → λ=0 when σ_min ≥ σ_thr (undamped pinv) → λ=λmax when σ_min=0 (full damping) Cubic s(τ) = 3τ²−2τ³ C¹ (zero end-vel) Quintic s(τ) = 10τ³−15τ⁴+6τ⁵ C² (zero ...
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