#### 1D trapezoidal trajectory

lesson

A more efficient trajectory has a trapezoidal velocity profile.

lesson

A more efficient trajectory has a trapezoidal velocity profile.

lesson

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

lesson

We summarise the important points from this lecture.

lesson

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

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.

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.

lesson

To move a robot smoothly from one pose to another we need smooth and coordinated motion of all the joints. The simplest approach is called joint interpolated motion but it has some limitations.