53 the second joint of a 6 axis robot is to go from an initial angle o
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5.3. The second joint of a 6-axis robot is to go from an initial angle of 20° to an intermediate angle of 80°in 5 seconds and continue to its destination
of 25° in another 5 seconds. Calculate the coefficients for third-order polynomials in joint-space. Plot the joint angles, velocities, and accelerations. Assume the joint stops at intermediate points.