Link: https://msudenver.yuja.com/V/Video?v=2001126&node=7658911&a= XXXXXXXXXX&autoplay=1 In this exercise, you will perform 3D straight-line trajectory planning using MATLAB. Based on the given noa...

In this exercise, you will perform 3D straight-line trajectory planning using MATLAB. Based on the given noa matrices and the trajectory requirements, obtain the positions of the trajectory based on the following parameters:

noa matrices

T1=[1 0 0 0.3;

0 1 0 0.1;

0 0 1 0.4;

0 0 0 1];

T2=[1 0 0 0.5;

0 1 0 0.4;

0 0 1 0.9;

0 0 0 1];

where T1 and T2 are the initial and final orientation of the robot end-effector.

Trajectory Requirements:

This needs to be completed within 10 seconds, with the cursing speed of 0.08 m/s.

Hint:

Any incremental position along the curve can be calculated using the following expression:

· P = P_init + v *dt; where v is a velocity vector pointing from the initial position to the final position.

o Compute the magnitude of velocity as a function of time using the parabolic blends technique.

o Obtain the vector pointing from the initial position to the final position.