
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.
lesson
The orientation of a body in 3D can also be described by a unit-Quaternion, an unusual but very useful mathematical object. In the MATLAB example starting at 3:48 I use the Quaternion class. For Toolbox version 10 (2017) please use UnitQuaternion instead.