Trajectory Generation

Trajectory Generation (20 points) Given the values for the joint variable: q(0) = 0, q(1) = 1, q(3) = 3, and q(5) = 5. Assume that the velocity, acceleration, and jerk at the end and starting point should be 0. Moreover, assume that the the velocity, acceleration, and jerk at time t = 1 and t = 3 is 1 m/s , 1m/s2 , and 0m/s3 respectively. • What is the minimum polynomial order to guarantee continuous velocities and accelerations and jerk. All segments have the same order. (5 points) • Can the different segment be solved in parallel? Explain. (3 points) • Compute the trajectory with the specified constraints. You need to show all the constraints and formalize them in matrix format.

Sample Solution

The post Trajectory Generation appeared first on nursing writers.

 

“Looking for a Similar Assignment? Get Expert Help at an Amazing Discount!”

The post Trajectory Generation first appeared on nursing writers.

"Is this qustion part of your assignmentt? We will write the assignment for you. click order now and get up to 40% Discount"