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Q1/ The figure below shows such an LSPB trajectory, where the maximum velocity V = 60 deg/sec. In this case, the times are given as t = 5 sec and t-30 sec. In addition, the joint angles in beginning and the ending q=20 deg and q;= 70 deg, respectively. For these required data, determine the following: 1- The position function and its profile. 2- The velocity function and its profile. 3- The acceleration function and its profile. 4- The function of jerk variable and what is the nature of jerk? 5- The position, velocity, and acceleration at tm=13 sec. 9A 9f 9 9 0 te tm ty te t t

Q1/ The figure below shows such an LSPB trajectory, where the maximum velocity V = 60 deg/sec. In this case, the times are given as t = 5 sec and t-30 sec. In addition, the joint angles in beginning and the ending q=20 deg and q;= 70 deg, respectively. For these required data, determine the following: 1- The position function and its profile. 2- The velocity function and its profile. 3- The acceleration function and its profile. 4- The function of jerk variable and what is the nature of jerk? 5- The position, velocity, and acceleration at tm=13 sec. 9A 9f 9 9 0 te tm ty te t t

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Q1/The figure below shows such an LSPB trajectory, where the maximum velocity V = 60 deg/sec. In this case, the times are given as t = 5 sec and t-30 sec. In addition, the joint angles in beginning and the ending q-20 deg and q;= 70 deg, respectively. For these required data, determine the following: 1- The position function and its profile. 2- The velocity function and its profile. 3- The acceleration function and its profile. 4- The function of jerk variable and what is the nature of jerk? 5- The position, velocity, and acceleration at tm=13 sec. 9A ty te 91 9. 9 0 t₁
Transcribed Image Text:Q1/The figure below shows such an LSPB trajectory, where the maximum velocity V = 60 deg/sec. In this case, the times are given as t = 5 sec and t-30 sec. In addition, the joint angles in beginning and the ending q-20 deg and q;= 70 deg, respectively. For these required data, determine the following: 1- The position function and its profile. 2- The velocity function and its profile. 3- The acceleration function and its profile. 4- The function of jerk variable and what is the nature of jerk? 5- The position, velocity, and acceleration at tm=13 sec. 9A ty te 91 9. 9 0 t₁
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