Search Results for: scalar

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

A more efficient trajectory has a trapezoidal velocity profile.

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

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 […]

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

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.