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Problem 4 (Trajectory Generation): Consider a LSPB trajectory of the following form: q(t) = 9 +-t², 2 9f + 90 - V tf 2 at af - 2 0 ≤t ≤ tb +Vt, tb

Problem 4 (Trajectory Generation): Consider a LSPB trajectory of the following form: q(t) = 9 +-t², 2 9f + 90 - V tf 2 at af - 2 0 ≤t ≤ tb +Vt, tb

Computer Networking: A Top-Down Approach (7th Edition)
Computer Networking: A Top-Down Approach (7th Edition)
7th Edition
ISBN:9780133594140
Author:James Kurose, Keith Ross
Publisher:James Kurose, Keith Ross
Chapter1: Computer Networks And The Internet
Section: Chapter Questions
Problem R1RQ: What is the difference between a host and an end system? List several different types of end...
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Problem 4 (Trajectory Generation): Consider a LSPB trajectory of the following form: q(t) = 9 +-t², 2 9f + 90 - V tf 2 at af - 2 0 ≤t ≤ tb +Vt, tb <t≤ tf - tb α tf + α tft-t², tf - to <t≤t 15 (deg/sec), determine the LSPB trajectory that will satisfy the following constraints: (a) Choose V = to = 0 (second) tf = 3 (second) q(to) = qo = 0° q(tf) = qƒ = 30° C + 42012 0 28/180°/a singularity camiguration of this robor? of this robot? (b) Compute the position, velocity, and acceleration for t = 1.5 (second)
Transcribed Image Text:Problem 4 (Trajectory Generation): Consider a LSPB trajectory of the following form: q(t) = 9 +-t², 2 9f + 90 - V tf 2 at af - 2 0 ≤t ≤ tb +Vt, tb <t≤ tf - tb α tf + α tft-t², tf - to <t≤t 15 (deg/sec), determine the LSPB trajectory that will satisfy the following constraints: (a) Choose V = to = 0 (second) tf = 3 (second) q(to) = qo = 0° q(tf) = qƒ = 30° C + 42012 0 28/180°/a singularity camiguration of this robor? of this robot? (b) Compute the position, velocity, and acceleration for t = 1.5 (second)
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