Homework #10 ECE 417 --- ROBOTICS Spring 2021
The following is known about a smooth trajectory: p(0) = 0, v(0) = 0,
p(3) = 2, p(7) = 0, v(7) = 0 and velocity and acceleration are
continuous everywhere.
a) What is the lowest degree single polynomial which could be used?
b) Give two advantages to using a spline curve instead.
c) What degree polynomials would you suggest for the splines?
d) Write the polynomials.
e) Write the set of equations which would be used to solve for the
coefficients. Do not use normalized time.
f) Solve for the coefficients.
g) Write the set of equations which would be used to solve for the
coefficients. Use normalized time.
h) Solve for the coefficients.