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share this answer prondwermets A single link robot with a rotary joint is motionless at theta = -5 degree. It is desired to move the

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prondwermets A single link robot with a rotary joint is motionless at theta = -5 degree. It is desired to move the joint in a smooth manner to theta = 80 degree in 4 seconds. Find the coefficients of a cubic which accomplishes this motion and brings the arm to rest at the goal. Plot the position, velocity and acceleration of the joint as a function of time

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