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Search Results for: scalar

1D trajectory with via points

lesson

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

1D trapezoidal trajectory

lesson

A more efficient trajectory has a trapezoidal velocity profile.

1D polynomial trajectory

lesson

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

Relative pose in 2D

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 […]

Multi-dimensional trajectory

lesson

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

Quaternions representation of rotation in 3D

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.

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