Multi-segment multi-axis trajectory
TRAJ = MSTRAJ(P, QDMAX, Q0, DT, TACC, OPTIONS) TRAJ = MSTRAJ(SEGMENTS, QDMAX, Q0, DT, TACC, QD0, QDF, OPTIONS)
(MxN) is a matrix of via points, 1 row per via point, one column
(1xN) are axis velocity limits which cannot be exceeded, or
(Mx1) are the durations for each of the M segments
(1xN) are the initial axis coordinates
(1x1) this acceleration time is applied to all segment transitions
(1xM) acceleration time for each segment, TACC(i) is the acceleration
String, valid entries
Show details
plot a graph.
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).
If no output arguments are specified the trajectory is plotted.
The path length K is a function of the number of via points, Q0, DT and TACC.
The final via point P(M,:) is the destination.
The motion has M segments from Q0 to P(1,:) to P(2,:) to P(M,:).
All axes reach their via points at the same time.
Can be used to create joint space trajectories where each axis is a joint coordinate.
Can be used to create Cartesian trajectories with the "axes" assigned to translation and orientation in RPY or Euler angle form.