15 lessons · 10–16 h (Parts 1–3)

Stage 09 · Trajectory Planning & Motion Generation

Turn Stage 8 poses into timed motion: Part 1 joint-space foundations, Part 2 advanced generation (quintics, Cartesian+IK, constraints, sync), and Part 3 capstone — plan & execute a limit-checked trajectory with Valid/Invalid metrics. Soft-recommend Stage 8; hard locks temporarily cleared for curriculum building. Mentions Stage 10 ROS as the execution bridge.

• 1. Why Robots Need Trajectories
• 2. Configuration Space & Robot Motion
• 3. Position, Velocity & Acceleration
• 4. Joint-Space vs Cartesian-Space Motion
• 5. Waypoints & Motion Segments
• 6. Linear Interpolation
• 7. Cubic Polynomial Trajectories
• 8. Quintic Polynomial Trajectories
• 9. Cartesian Trajectories
• 10. Orientation Trajectories
• 11. Velocity & Acceleration Constraints
• 12. Jerk & Smooth Motion
• 13. Time Scaling & Motion Duration
• 14. Multi-Joint Synchronization
• 15. Capstone: Plan & Execute a 6DOF Robot Trajectory