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Extending the previous answer which describes how to compute a minimum-jerk trajectory given a consistent distance coordinate system. A simple way to do this is to treat the first coordinate as your origin then convert each other GPS point to meter distances from your first coordinate using one of the latitude and longitude equations here


As reported for example in, a minimum-jerk trajectory in one dimension is coded with respect to time $t$ as: $$ x(t) = x_i + (x_f-x_i) \cdot \left( 10\left(\frac{t}{t_f}\right)^3 -15\left(\frac{t}{t_f}\right)^4 +6\left(\frac{t}{t_f}\right)^5\right), $$ where $t_f$ is the final time ($2\, \text{s}$ in your case),...


They are exactly the same equation, being the former only a compact version of the latter. From the Euler-Lagrange approach to the dynamics of a manipulator, you can build the $B$ and $C$ terms distinctively from the knowledge of your robot (e.g. distribution of masses of the links). Thus, for constructing the dynamics that you aim to control, you have to ...

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