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  • Project Trajectory Planning

    Uploaded by

    Michael Anachuna
    21 views7 pages
    The document contains data for the position, velocity, and acceleration over time of three separate joints. For each joint, the position increases over time before leveling off, while the velocity and acceleration start at zero, increase to a peak, and then decrease back to zero. This represents the motion of each joint moving at a constant acceleration before stopping.

    Original Description:

    excel file of trajectory planning

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    © Attribution Non-Commercial (BY-NC)

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    The document contains data for the position, velocity, and acceleration over time of three separate joints. For each joint, the position increases over time before leveling off, while the velocity and acceleration start at zero, increase to a peak, and then decrease back to zero. This represents the motion of each joint moving at a constant acceleration before stopping.

    Copyright:

    Attribution Non-Commercial (BY-NC)
    Download as XLSX, PDF, TXT or read online from Scribd
    Flag for inappropriate content
    Download as xlsx, pdf, or txt
    21 views7 pages

    Project Trajectory Planning

    Uploaded by

    Michael Anachuna
    The document contains data for the position, velocity, and acceleration over time of three separate joints. For each joint, the position increases over time before leveling off, while the velocity and acceleration start at zero, increase to a peak, and then decrease back to zero. This represents the motion of each joint moving at a constant acceleration before stopping.

    Copyright:

    Attribution Non-Commercial (BY-NC)
    Download as XLSX, PDF, TXT or read online from Scribd
    Flag for inappropriate content
    Download as xlsx, pdf, or txt
    of 7

    0

    1
    2
    3
    4
    5
    6
    7
    8

    poisition velocity acceleration


    0
    0
    0
    2.787
    5.321
    4.562
    10.136
    9.124
    3.044
    20.529 11.409
    1.526
    32.448 12.176
    0.008
    44.375 11.425
    -1.51
    54.792
    9.156
    -3.028
    62.181
    5.369
    -4.546
    65
    0
    0

    70
    60
    50
    40
    pos,vel,accel

    time

    30
    20
    10
    0
    0
    -10

    Joint 1

    position
    velocity
    accel.

    time(sec)

    0
    1
    2
    3
    4
    5
    6
    7
    8

    poisition velocity acceleration


    35
    0
    0
    38.867
    7.3307
    6.33
    49.064 12.4508
    4.224
    63.485 15.3603
    2.118
    80.024 16.0592
    0.012
    96.575 14.5475
    -2.094
    111.032 10.8252
    -4.2
    121.289
    4.8923
    -6.306
    125
    0
    0

    140
    120
    100

    pos,vel,accel

    time

    80
    60
    40
    20
    0
    0
    -20

    Joint 1

    position
    veolcity
    accel.

    time(sec)

    140

    0
    1
    2
    3
    4
    5
    6
    7
    8

    poisition velocity acceleration


    120
    0
    0
    117.855
    4.095
    3.51
    112.2
    7.02
    2.34
    104.205
    8.775
    1.17
    95.04
    9.36
    0
    85.875
    8.775
    -1.17
    77.88
    7.02
    -2.34
    72.225
    4.095
    -3.51
    70
    0
    0

    120
    100
    80
    pos,vel,accel

    time

    60
    40
    20
    0
    0
    -20

    Joint 1

    position
    velocity
    accel.
    position
    velocity
    accel.

    time(sec)

    4.6711
    10.5848
    7.2827

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