#### 1D trajectory with via points

lesson

Frequently we want a trajectory that moves smoothly through a series of points without stopping.

lesson

Frequently we want a trajectory that moves smoothly through a series of points without stopping.

lesson

A more efficient trajectory has a trapezoidal velocity profile.

lesson

The simplest smooth trajectory is a polynomial with boundary conditions on position, velocity and acceleration.

lesson

We consider multiple objects each with its own coordinate frame. Now we can describe the relationships between the frames and find a vector describing a point with respect to any of these frames. We extend our algebraic notation to ease the manipulation of relative poses. Try your hand at some online MATLAB problems. You’ll need […]

lesson

We learn to compute a trajectory that involves simultaneous smooth motion of many robot joints.