(Solved): 1. The first joint of a 6 -axis robot needs to go from an initial angle of 50 degrees to a final a ...

1. The first joint of a 6 -axis robot needs to go from an initial angle of 50 degrees to a final angle of 80 degrees in 3 seconds. Calculate the coefficients for a third order polynomial joint-space trajectory. Determine joint angles, velocities, and accelerations at 1, 2, and 3 seconds. Assume the robot starts at rest and stops at its destination. 2. The third joint of a 6 -axis robot needs to go from an initial angle of 20 degrees to a final angle of 80 degrees in 4 seconds. Calculate the coefficients for a third order polynomial joint-space trajectory and plot the joint angles, velocities, and accelerations. Assume the robot starts at rest but has a final velocity of 5 degrees/second. 3. The second joint of a 6-axis robot needs to go from an initial angle of 20 degrees to an intermediate angle of 80 degrees in 5 seconds and the continues to a final angle of 25 degrees in 5 seconds. Calculate the coefficients for a third order polynomial joint-space trajectory. Plot the joint angles, velocities, and accelerations. Assumes the robot stops at the intermediate point.