The application relates to a charging system for charging at least one charging hole. The system comprises a charging boom, sensors of the boom, a movement mechanism of the boom, a charging head of the boom for charging the at least one hole, and a controller for controlling the boom. The sensors obtain location information relating to the boom. The controller defines locations of the charging head in a co-ordinate system of the boom on the grounds of at least the obtained location information. The controller also operates the movement mechanism to move the charging head between the defined locations in accordance with precalculated movements.

Methods, apparatus, systems, and computer readable media are provided for generating phase synchronized trajectories for actuators of a robot to enable the actuators of the robot to transition from a current motion state to a target motion state. Phase synchronized trajectories produce motion of a reference point of the robot in a one-dimensional straight line in a multi-dimensional space. For example, phase synchronized trajectories of a plurality of actuators that control the movement of an end effector may cause a reference point of the end effector to move in a straight line in Cartesian space. In some implementations, phase synchronized trajectories may be generated and utilized even when those phase synchronized trajectories are less time-optimal than one or more other non-phase synchronized trajectories.