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mtraj

Multi-axis trajectory between two points

Calling Sequence

[Q,QD,QDD] = MTRAJ(TFUNC, Q0, QF, M)
[Q,QD,QDD] = MTRAJ(TFUNC, Q0, QF, M,'plot')

Description

[Q,QD,QDD] = MTRAJ(TFUNC, Q0, QF, M) is a multi-axis trajectory (MxN) varying from state Q0 (1xN) to QF (1xN) according to the scalar trajectory function TFUNC in M steps. Joint velocity and acceleration can be optionally returned as QD (MxN) and QDD (MxN) respectively. The trajectory outputs have one row per time step, and one column per axis.

The shape of the trajectory is given by the scalar trajectory function TFUNC. Possible values of TFUNC are 'lspb' for a trapezoidal trajectory, or 'tpoly' for a polynomial trajectory.

[Q,QD,QDD] = MTRAJ(TFUNC, Q0, QF, T) as above but specifies the trajectory length in terms of the length of the time vector T (Mx1).

Notes

See also

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