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0 Question 1: Suppose. we desire a joint space trajectory qi) : for the ith joint (assume all are revolute) that begins at an initial rest position of (31-.,,_,_,_ at time tn and reaches position qJ-mm in 5 seconds with a nal velocity of 3 rad/sec. ' Determine the single matrix equation that encompasses all four constraint. equations. I Compute a cubic polynomial satisfying these constraints. Sketch the joint trajectory as a function of time if rim-W. 5 and (If-em: 40. Make sure to label initial and final conditions appropriately