Hello Steve, welcome to Math Help Forum!
What kind of robots are you trying to control? Is this in a research environment or something on the commercial side? Sounds interesting!
At 52 and suddenly faced with a maths problem my mind can't go back to school all those years ago!
I am a programmer and working on a computer that controls robots.
I have some profiles to generate and the maths behind it is getting tougher.
I do hope someone here will shed light on some of the problems and calculations required.