By MATLAB

Path and Trajectory Planning Write a program to calculate the trajectory of a manipulator joint for the given cases. 1) A link of a manipulator is resting at position A with q 30, v- 0 and a 0, it should come to rest at position B with q =-120, v = 0, a 0. (a) Develop a Quintic (5 degree) polynomial trajectory for this joint motion (b) Plot the following versus time -Joint Displacement, Joint Velocity, Joint Acceleration 2) For the above case, assume a via-point C in between positions A and B the manipulator joint has the following at position C with q =-80, v = 3 and a = 1. (a) Plot the following versus time - Joint Displacement, Joint Velocity, Joint Acceleration Path and Trajectory Planning Write a program to calculate the trajectory of a manipulator joint for the given cases. 1) A link of a manipulator is resting at position A with q 30, v- 0 and a 0, it should come to rest at position B with q =-120, v = 0, a 0. (a) Develop a Quintic (5 degree) polynomial trajectory for this joint motion (b) Plot the following versus time -Joint Displacement, Joint Velocity, Joint Acceleration 2) For the above case, assume a via-point C in between positions A and B the manipulator joint has the following at position C with q =-80, v = 3 and a = 1. (a) Plot the following versus time - Joint Displacement, Joint Velocity, Joint Acceleration