Results (Matlab Graphs) - Home Postion to Hit Keyboard

Posted are graph results of movements of different parts of the robot with the use of Inverse Kinematics. This set of graphs represents the movement of the robot as it makes its way to the keyboard and pauses right above the space bar.

Final End Effector Position over time(10 sec):

**Notice the Parabolic shape of the End Effector Trajectory (this will be helpful for the final).

Trajectory Equations:

Theta (Motor) 1 vs. time:
Theta (Motor) 2 vs. time:
Theta (Motor) 3 vs. time: Theta (Motor) 4 vs. time: