This video shows planning and execution of trajectory (in joint as well as task space) for a 2R planar manipulator robot. The exact problem statement is described below.
The manipulator structural parameters are L1 = 2, L2 = 1 and this manipulator is required to move between points P1 = (x1, y1) = (-1, 1) and P2= (x2, y2) = (2, 1) in 10 time steps. Assuming that the manipulator starts and stops from rest:
• Fit a cubic polynomial between the start and finish positions in each of the task-space coordinates
• Fit a quintic polynomial between the start and finish configurations in terms of the joint-space coordinates
• Fit a cubic polynomial between the start and finish positions in each of the task-space coordinates using Peter Corke’s Robotics Toolbox
• Fit a quintic polynomial between the start and finish configurations in terms of the joint-space coordinates using Peter Corke’s Robotics Toolbox
GitHub Repository: [ Ссылка ]
