Question 4: Determine the cubic polynomials to generate multi-segment trajectory having a 6-second move, computed in three parts, where the trajectory begins at 10 and is required to reach 40 at 2 seconds, 30 at 4 seconds, and 90 at 6 seconds, with zero velocity at 0, 2, 4, and 6 seconds. Then plot q(t), g(t) and (t). Question 5: It is desired to use LSPB method to generate a trajectory to move from initial state of qo= 4 to q= 8 in 20 seconds. Determine the possible range of constant velocity V for the given conditions. Now use Ispb function in Robotics Toolbox of MATLAB to plot the position, velocity and acceleration, and determine blend time t, for V = 0.3. Question 6: Use mstraj function in the Robotics Toolbox of MATLAB to generate a multi-segment multi-dimensional trajectory that passes through the points (5, 6), (8,9), (5, 14), (12, 12), and (10, 6) with the requirement to have maximum speed of 0.5. Question 4: Determine the cubic polynomials to generate multi-segment trajectory having a 6-second move, computed in three parts, where the trajectory begins at 10 and is required to reach 40 at 2 seconds, 30 at 4 seconds, and 90 at 6 seconds, with zero velocity at 0, 2, 4, and 6 seconds. Then plot q(t), g(t) and (t). Question 5: It is desired to use LSPB method to generate a trajectory to move from initial state of qo= 4 to q= 8 in 20 seconds. Determine the possible range of constant velocity V for the given conditions. Now use Ispb function in Robotics Toolbox of MATLAB to plot the position, velocity and acceleration, and determine blend time t, for V = 0.3. Question 6: Use mstraj function in the Robotics Toolbox of MATLAB to generate a multi-segment multi-dimensional trajectory that passes through the points (5, 6), (8,9), (5, 14), (12, 12), and (10, 6) with the requirement to have maximum speed of 0.5