1]What is trajectory planning? 2]Diffrentiate two methods for trajectory planning? 3]Suggest the suitable polynomial function for...

1]What is trajectory planning?

2]Diffrentiate two methods for trajectory planning?

3]Suggest the suitable polynomial function for the position trajectory.

4]what are step needed to design a robot trajectory?

5]A single-link robot manipulator with a rotary joint is motionless at θ=15o . It is desired to move the joint in a smooth manner to θ=75o in 3 seconds.

a)Design a cubic trajectory which accomplishes the motion and brings the manipulator to rest at the goal with zero initial velocity and zero final velocity.

b)Plot position, velocity and acceleration as function of time

6]Design a differentiable trajectory with two cubic segments, which start from the initial angular position θi(0)=20o, passes the via point θi(1)=10o and then stops at the final angular position θi(3)=60o, with zero initial velocity and zero final velocity.

Solutions

Expert Solution

Manojponduru answered 1 year ago

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