We learn to compute a trajectory that involves simultaneous smooth motion of many robot joints.
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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.
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.
We summarise the important points from this lecture.
We will learn how to create coordinate frames that have smoothly changing position and orientation over time.
We revisit the important points from this masterclass.
An alternative for smooth motion between poses is Cartesian interpolated motion which leads to straight line motion in 3D space.