The magnitude of this model uncertainty is also dependent upon the accelerations of the first i - 1 joints.
There are, however, changes in curvature along its trajectory representing accelerations or decelerations.
A theory is developed which permits computing the response of such bubbles to accelerations.
Summing up, radially bound and unbound trajectories, and also substantial axial accelerations, can be obtained depending on the initial conditions and the beam polarization.
The velocities and accelerations are obtained by differentiating the trajectory function once and twice with respect to time, respectively.
First, at the beginning of the tests - time t = 0 [sec] - the desired joint positions qd, velocities qd and accelerations qd are zero.
Namely, the vehicle must perform a series of accelerations and brakings.
The joint velocities and the joint accelerations of the manipulator at the start and goal positions are all zero.
