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Robotics_Toolbox >> Robotics_Toolbox > tpoly

tpoly

Scalar polynomial trajectory

Calling Sequence

[S,SD,SDD] = tpoly(S0, SF, M)
[S,SD,SDD] = tpoly(S0, SF, T)
[S,SD,SDD] = tpoly(S0, SF, N, SD0, SDF)
[S,SD,SDD] = tpoly(S0, SF, T, SD0, SDF)

Description

[S,SD,SDD] = TPOLY(S0, SF, M) is a scalar trajectory (Mx1) that varies smoothly from S0 to SF in M steps using a quintic (5th order) polynomial. Velocity and acceleration can be optionally returned as SD (Mx1) and SDD (Mx1).

[S,SD,SDD] = TPOLY(S0, SF, T) as above but specifies the trajectory in terms of the length of the time vector T (Mx1).

[S,SD,SDD] = TPOLY(S0, SF, N, SD0, SDF) as above but specifies initial and final joint velocity for the trajectory.

[S,SD,SDD] = TPOLY(S0, SF, T, SD0, SDF) as above but specifies initial and final joint velocity for the trajectory and time vector T.

Notes

See also

Authors


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