#### Multi-dimensional trajectory

lesson

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

lesson

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

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

Time varying coordinate frames are required to describe how the end-effector of a robot should move to grab an object, or to describe objects that are moving in the world. We make an important distinction between a path and a trajectory.

lesson

We summarise the important points from this lecture.

lesson

We will learn how to create coordinate frames that have smoothly changing position and orientation over time.

masterclass

lesson

We revisit the important points from this masterclass.

lesson

An alternative for smooth motion between poses is Cartesian interpolated motion which leads to straight line motion in 3D space.