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...

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Link: https://msudenver.yuja.com/V/Video?v=2001126&node=7658911&a=1717258551&autoplay=1 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.