I want to do the trajectory planning for a robot manipulator. So how to do that?
I have computed by hand the forward kinematics via D-H, also the forward differential kinematics (Jacobian matrix) and inverse differential kinematics, but I'm not sure if inverse kinematics is correct.
So I don't want to use inverse kinematics for trajectory planning.
These are the details about work
So, what is the best way to do this via MATLAB?
Thanks in advance!