Consider the robot tool moves from point w to point w in tool configuration space over an interval of time [T T]. Suppose a cubic polynomial w(t) is used for the segment {w, w} as w(t) = e(t - T) + f(t-T) + g(t-T) +h, T t T+T Assuming the tool is to start out from point w at time T with velocity v and end up to point w at time T with velocity v, find the equation Bx = y, where x = [e.f.g. h]" is the vector of unknown polynomial coefficients and B and y are to be determined, to represent the constraints on the polynomial coefficients.