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jtraj_if

jtraj_if

Block Screenshot

Description

This block generates quintic polynomial to move from intial (q0) to final (qf) joint angles as specified. Initial and final velocities are assumed to be zero. Output joint angles as well as joint angle rates.

The number of output of this block is three. The first output represents the joint state vector q. The second output is the joint velocity vector qd. The third output represents the joint acceleration vector qdd. Each of these vector valued signals must have n elements, where n is the number of elements of the vectors q0 and qf.

Dialog Box

q0 :

n-element vector. It describes the initial joint angles. Initial value: [0,0,0,0,0,0]

qf :

n-element vector. It describes the final joint angles. Initial value: [%pi/4,%pi/2,-%pi/2,0,0,0]

tmax :

scalar. The final time to complete the motion. Initial value: 10

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