Fundamentals of Robotic Mechanical Systems by Jorge Angeles

Author:Jorge Angeles
Language: eng
Format: epub, pdf
Publisher: Springer International Publishing, Cham

6.7From inspection of the plot of the 3-4-5 polynomial and its derivatives displayed in Fig. 6.2, it is apparent that the polynomial can be regarded as the superposition of a linear and a periodic function in the interval 0 ≤ τ ≤ 1. Approximate the underlying periodic function with a periodic cubic spline by subdividing the above-mentioned interval into N equal subintervals, while finding the value of N that will yield a maximum absolute value of less than 10−4 in the error in (a)the function values;

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