A more efficient trajectory has a trapezoidal velocity profile.
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Frequently we want a trajectory that moves smoothly through a series of points without stopping.
We summarise the important points from this lecture.
We learn to compute a trajectory that involves simultaneous smooth motion of many robot joints.
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 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.
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.