[Ether]

Originally Posted by PTC_Chris

I have implemented the Matrix Solution as a Mathcad worksheet.

Thanks for posting this Chris. Unfortunately, the example you picked is a case where a cubic polynomial is surely not what you'd want. A Bezier curve would give a much more desirable curve for the robot to follow. Does Mathcad support Bezier curves?


Attached is a Bezier curve for the example you gave.

Also, there's an Excel spreadsheet here for those who don't have Maxima* installed:

http://www.chiefdelphi.com/media/papers/2713


* Maxima is a free open-source Computer Algebra System, available for download at the link below. Highly recommended:

http://maxima.sourceforge.net/