Given a single link robot arm with a revolute joint. Construct a cubic path function to take it from it’s present rest at 10 degrees to finish at rest at a desired end position of 110 degrees.
The cubic polynomial does not specify accelerations at the start and end of the motion. This adds two more constraints which can only be represented by a quintic polynomial. i.e. a 5 t 5
Linear Functions with parabolic Blends.
Linear function requires an infinite acceleration to get it started so parabolic blends are added at each end of the trajectory.
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