Trajectory planning with single polynomial

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Stevy Kuimi
Stevy Kuimi 2017-4-10
评论： Walter Roberson 2017-4-10
I am trying to define the joint position profile using a single polynomial
q(t)=sum(ai*t^i) for i=0:14
i know how to solve this by hand but it will take a lot of time. So i tried on matlab and find the coefficient ai.
Can somebody help m please.

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John D'Errico
John D'Errico 2017-4-10
编辑：John D'Errico 2017-4-10
Using a polynomial of degree 14 is simply a bad idea. Almost any computation done in double precision arithmetic will be unstable to compute. Worse, that polynomial will tend to be nasty, with potentially lots of bumps and wiggles.
You will almost always be far better off using a spline of some sort.

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