ELEC0129-A5U-2022 4. We want to move a robot's joint from 0, to 0, in time t, along a cubic trajectory, with zero veloci

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Elec0129 A5u 2022 4 We Want To Move A Robot S Joint From 0 To 0 In Time T Along A Cubic Trajectory With Zero Veloci 1 (39.13 KiB) Viewed 42 times

ELEC0129-A5U-2022 4. We want to move a robot's joint from 0, to 0, in time t, along a cubic trajectory, with zero velocities at the starting position and final position. Assume e, > 0 (a) The values of 0, and 0, are known. What should t, be, if the velocity and acceleration cannot exceed Ómax and Ömax respectively? [10 marks) (b) You are a creative student and decided to design your own trajectory rather than the ones you learnt in the class. One idea you have is to use the half cycle of a cosine function as a trajectory Write down the equation of such a trajectory, parameterized by 0, 0, and ty. Please show how you arrive at the equation, eg by sketches of the curves. [10 marks)