Trajectory Generation: Basics and Profiles

This lecture covers the fundamentals of trajectory generation in robot control, focusing on the spatial and temporal aspects of trajectories. It explains the concept of eligible trajectories and the importance of interpolation methods like linear and circular interpolation. The lecture also delves into velocity profiles, including trapezoidal profiles and profiles based on acceleration laws. It discusses the implementation of step and slope paths, as well as triangular velocity profiles. The lecture concludes with insights on multi-connected points, acceleration considerations at connection points, and solutions for axes interpolation challenges in multi-axes movements.