Please help me as much as you can!!

I will take all your effort to solve this problem and will give you a good rate!!!

However, please do not copied and pasted answers from another website (Especially c_h_e_g_g)

For example,

5-19 Het T= ( 1 - to ) / 2 . de / 4 = 1/ . Let the trajectory be , = a + 67 + (2 2 + de a # 6 + 2 0 8 + 3d7 2. 1 = ( # q = 0 = > 7 : 0 : 0 = 6=0 6:0. NLU 1 = L + R EY Q = 1 - 7 = 1 : q' = 6 + 2 0 + 3 d = 2 27 20 + 3d = 2 - ( 2) From (19 and ( 2) we get : d = 290- 29 +7 undated C = 39 - 39 72 The trajectory is given by ! the REG+ ( 30 - 39 - 2 ) ( 1 -to )+ ( 29 - 29,+2 ) / 1- to) 2 20 Question 1: Suppose. we desire a joint space trajectory qi) : for the ith joint (assume all are revolute) that begins at an initial rest position of (31-.,,_,_,_ at time tn and reaches position qJ-mm in 5 seconds with a nal velocity of 3 rad/sec. ' Determine the single matrix equation that encompasses all four constraint. equations. I Compute a cubic polynomial satisfying these constraints. Sketch the joint trajectory as a function of time if rim-W. 5 and (If-em: 40. Make sure to label initial and final conditions appropriately