10.10. Trajectory Planning in Joint and Cartesian Space

Try these first

1. 1.

   What is trajectory planning?

   Hint

   Think about how robots move.

2. 2.

   What are two types of trajectory planning?

   Hint

   One deals with joints, the other with positions.

3. 3.

   What do we refer to when discussing joint space trajectories?

   • Joint movements
   • End-effector positions
   • Obstacle avoidance

   Hint

   Think about which movements are involved in joints.

4. 4.

   Is Cartesian Space Trajectory planning intuitive for all tasks? True or False.

   • True
   • False

   Hint

   Consider the complexity of moving in space vs just joints.

5. 5.

   Design a trajectory plan for a robotic arm to pick up an object and place it in specific coordinates, detailing Joint Space and Cartesian Space methods.

   Hint

   Break the task down into precise steps for each space.

6. 6.

   Critically analyze a real-world example where improper trajectory planning might lead to failure. Describe how you would resolve the issue.

   Hint

   Consider potential errors in motion and correct them.