22C:161 Introduction to Robotics Spring 1995

Homework 7 (the last one) - Due Friday, March 31

In this homework assignment, you will implement a trajectory generation algorithm from Chapter 7.

1. Implement the "linear functions with parabolic blends" trajectory generation scheme (starting on p. 239 of the book). You are not REQUIRED to include the ability to handle via points, but it makes for much more interesting movements and you'll receive extra credit if you do so. (Give it a try - it's not particularly difficult).
2. Demonstrate your implementation through various movements of the PUMA model and by plotting position, velocity, and acceleration curves for the movements. Plot values for at least two of the joints. Also plot values for the end effector x,y,z trajectories. The joint trajectories should look nice and simple, while the x,y,z trajectories will look, in general, more complex.