Generating smooth motion profiles for joint angles, velocities, and accelerations
PUMA 560 Robot configuration taken from Peter Corke's RVC Toolbox. Generates two smooth motion profiles for two trajectories using jtraj function. The trajectories are given between two points defined by the joint configuration qz and qr, and qr and qf respectively.
Figure 1. Joints angles (qᵢ), velocities (qdᵢ), and accelerations (qddᵢ) deltas over time.