Compute a joint space trajectory between two points
[Q,QD,QDD] = JTRAJ(Q0, QF, M) [Q,QD,QDD] = JTRAJ(Q0, QF, M, QD0, QDF) [Q,QD,QDD] = JTRAJ(Q0, QF, T) [Q,QD,QDD] = JTRAJ(Q0, QF, T, QD0, QDF)
[Q,QD,QDD] = JTRAJ(Q0, QF, M)
is a joint space trajectory Q (MxN) where the joint
coordinates vary from Q0 (1xN) to QF (1xN). A quintic (5th order) polynomial is used
with default zero boundary conditions for velocity and acceleration.
Time is assumed to vary from 0 to 1 in M steps. Joint velocity and
acceleration can be optionally returned as QD (MxN) and QDD (MxN) respectively.
The trajectory Q, QD and QDD are MxN matrices, with one row per time step,
and one column per joint.
[Q,QD,QDD] = JTRAJ(Q0, QF, M, QD0, QDF)
as above but also specifies initial
and final joint velocity for the trajectory.
[Q,QD,QDD] = JTRAJ(Q0, QF, T)
as above but the trajectory length is defined
by the length of the time vector T (Mx1).
[Q,QD,QDD] = JTRAJ(Q0, QF, T, QD0, QDF)
as above but specifies initial and
final joint velocity for the trajectory and a time vector.