(Solved): 12 U For waypoint trajectory generation of orientation as illustrated in the figure, we set maximu ...

12 U For waypoint trajectory generation of orientation as illustrated in the figure, we set maximum absolute value of acceleration and maximum velocity denoted below. Then, choose the condition that separates the two cases of trapezoidal and triangle shapes of velocity generation. There are 2 correct answers. * (5 Points) a, max Ye 4's 4 Imaz 4 ts We-W?l ? we - Wsz We-W?l> a yax ? te 4'se 1 -Stipdt = for triangle shape for triangle shape te It max for trapezoid shape a = = 4e-4s t AL 2 t