Question

Please answer the following question:

Sketch graphs of position, velocity, and acceleration for a two-segment spline where each segment is a cubic, using the coefficients as given in (equation 7.11). Sketch them for a joint where initial angle is θ,-5°, θ,-20° is a via point angle, and θ,- 40° is the goal point angle. Assume that each segment has a duration of 1.0 second and that the velocity at the via point is to be 17.5 degrees/second. (Hint: you should use MatLab to accurately capture the profile of S, V, and A)

Answer 1

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