The goal of this exercise is to implement polynomial joint-space trajectory-generation equations for a single joint. (Multiple joints would require n applications of the result.) Write a MATLAB program to implement the joint-space trajectory generation for the three cases that follow. Report your results for the specific assignments given; for each case, give the polynomial functions for the joint angle, angular velocity, angular acceleration, and angular jerk (the time derivative of acceleration). For each case, plot the results. (Arrange the plots vertically with angle, velocity, acceleration, and then jerk, all with the same time scale—check out the subplot MATLAB function to accomplish this.) Don't just plot out results—give some discussion; do your results make sense? Here are the three cases:
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