Trajectory Generation 

Very informative. I really liked how you qualified the difference between path planning and trajectory generation by giving the context of physical limitations on acceleration and torque.

Best descriptive explanation for S Curve. Thanks very much.

Professor, Quite informative video. Thanks for your effort to share this clean,precise explanations. Matlab codes also much more supportive. Best wishes

Nice video, it was very clear the explanation. Thank you to share it.

thank you very much for the explanation, very well done and understandable, it helped me a lot!

Thanks a lot for this high value videos

Many thanks, It help my problem !

Good explanation

Thank you for the excellent explanation, this video really helped me understand the course material. I want to ask, can these methods be applied to a simple robot arm using a microcontroller like Arduino? if yes can you give me an idea.

Great video, great explanation and the equations really works well

How can I interpolate this on 2 axis for them to end at the same time?

Did you also solve to calculate the final time like you did in 53:14 under using the quintic polynom? Great video btw!

Thank you for the video, is the speed profile generated in this video valid for an autonomous vehicle testing or is it only for robotics ( angles) ?

Which trajectory planning technique and algorithms employed in robotics???

Hello, sir. If I want to execute this in Simulink, how can I convert it? I would like to add PID motor position control after the S-curve.

Hello Sir, This is a very informative video on s curve trajectory. I am using this to control the motion of a linear drive of a cartesian robot but I am having an issue with the MATLAB script when I try to generate the same trajectory. If it is possible for you can you share the script code, I would be very thankful. Also, is it possible to generate this specific type of trajectory in Simulink. Thanks.

Can you tell me the source book you used?

at 22:58 the q-vector elements are in the wrong order

Hello sir, I am having trouble writing code for the seven segment, could you please send the code so I can counter check.

Hi, sir could i have your sheet please 😅

corrected code %% Quintic Polynomial clear all; t0=0.5; tf=1.5; qt0=0; qtf=20; qdott0=0; qdottf=0; q2dott0=0; q2dottf=0; %%n=16; %%IL=0.2; %%IM=0.005; %%Ieq=IM+IL/(n^2); A=[1 t0 t0^2 t0^3 t0^4 t0^5;... 0 1 2*t0 3*t0^2 4*t0^3 5*t0^4;... 0 0 2 6*t0 12*t0^2 20*t0^3;... 1 tf tf^2 tf^3 tf^4 tf^5;... 0 1 2*tf 3*tf^2 4*tf^3 5*tf^4;... 0 0 2 6*tf 12*tf^2 20*tf^3]; RHS=[qt0;qdott0;q2dott0;qtf;qdottf;q2dottf]; coeffs=inv(A)*RHS; t=linspace(t0,tf,200); q=coeffs(6)*t.^5+coeffs(5)*t.^4+coeffs(4)*t.^3+... coeffs(3)*t.^2+coeffs(2)*t+coeffs(1); qdot=5*coeffs(6)*t.^4+4*coeffs(5)*t.^3+... 3*coeffs(4)*t.^2+2*coeffs(3)*t+coeffs(2); q2dot=20*coeffs(6)*t.^3+12*coeffs(5)*t.^2+6*coeffs(4)*t+2*coeffs(3); %%omega_max=max(abs(qdot))*30/pi; %%T_max=Ieq*max(abs(q2dot)); %%fprintf('using quintic polynomial, the maximum angular velocity is %4.2f rpms ',omega_max); %%fprintf('using quintic polynomial, the maximum torque is %4.2f N-ms ',T_max); figure(2); subplot(3,1,1); plot(t,q); xlabel('t(sec)'); ylabel('q(t) (rad)'); title('Quintic Polynomial'); subplot(3,1,2); plot(t,qdot); xlabel('t (sec)'); ylabel('dq/dt(t) (rad/s)'); subplot(3,1,3); plot(t,q2dot); xlabel('t (sec)'); ylabel('d^{2}q/dt^{2}(t) (rad/s^{2})');