Prepare for Project you should carefully read the Notes on Trajectory Formation that are available on Moddle. As you read them, you should try out the concepts in MATLAB.
1. Build a MATLAB birthday cake using the cylinder() function. Make it .5 in diameter, and locate its base at 1,1,0 wrt {0} (Make the cake 3 levels high...i.e. cylinder([.5 .5 .5],10))
2. Plot your robot with a .5 long knife at Q=[-pi 0 0 0 0 0]
3. Add the cake to the robot's plot.
4. Bring the robot's tool to the center of the top of the cake, with its tool oriented for a +pi/4 cut.
5. Find T knife that plunges the knife to the bottom of the cake.
6. Find another Tknife0 that cuts out to the perimeter of the cake
7. Animate the two cut process.
8. Find a Tknife0 pose that brings the knife to the middle of the cake's height at the outside edge of the cake. Choose an orientation of the knife so that you can make a horizontal cut half-way around the circumference, going counter clockwise.
9. Animate this cutting.
10. Try making a similar cut that goes 360 degrees around the cake from where the robot started. Animate it and see how it works.