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mstraj

Multi-segment multi-axis trajectory

Calling Sequence

TRAJ = MSTRAJ(P, QDMAX, Q0, DT, TACC, OPTIONS)
TRAJ = MSTRAJ(SEGMENTS, QDMAX, Q0, DT, TACC, QD0, QDF, OPTIONS)

Parameters

P :

(MxN) is a matrix of via points, 1 row per via point, one column

QDMAX :

(1xN) are axis velocity limits which cannot be exceeded, or

QDMAX :

(Mx1) are the durations for each of the M segments

Q0 :

(1xN) are the initial axis coordinates

TACC :

(1x1) this acceleration time is applied to all segment transitions

TACC :

(1xM) acceleration time for each segment, TACC(i) is the acceleration

OPTIONS :

String, valid entries

"verbose" :

Show details

"plot" :

plot a graph.

Description

TRAJ = MSTRAJ(P, QDMAX, Q0, DT, TACC, OPTIONS) is a multi-segment trajectory (KxN) based on via points P (MxN) and axis velocity limits QDMAX (1xN). The path comprises linear segments with polynomial blends. The output trajectory matrix has one row per time step, and one column per axis.

TRAJ = MSTRAJ(SEGMENTS, QDMAX, Q0, DT, TACC, QD0, QDF, OPTIONS) as above but additionally specifies the initial and final axis velocities (1xN).

Notes

See also

Authors


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