Trajectory Planning

Task 3 - compute Jacobian Matrix

In this task you will need to define the Jacobian Matrix for your robot.

1. ▶️ 🧑‍💻 Open the script week8/jacobian.py and and complete the functions J1, J2, J3, J4, J5, J6 which calculates the jacobian components of the full jacobian matrix.

Task 4 - add velocities to the path

Once the you have defined your jacobian matrix, you can go back to the trajectory planning code week8/trajectory_planning.py you have implemented in tasks 1 and 2 to compute also joints and end-effector velocities.

1. ▶️ 🧑‍💻 Go to the function plan_cartesian_trajectory().

2. ▶️ 🧑‍💻 Assuming 1m/s linear velocity along the cartesian path, compute the joint velocities at each viapoint using the Jacobian matrix.

3. ▶️ 🧑‍💻 Plot the cartesian and joint velocities

4. ▶️ 🧑‍💻 Go to the function plan_joint_trajectory().

5. ▶️ 🧑‍💻 Assuming 0.1 rad/s velocity along the joint paths, compute the cartesian velocity at each viapoint using the inverse Jacobian matrix.

6. ▶️ 🧑‍💻 Plot the joint and cartesian velocities