mstraj
Multi-segment multi-axis trajectory
traj = mstraj(segments, qdmax, q0, dt, tacc, qd0, qdf) as above but
additionally specifies the initial and final axis velocities (1xN).
Notes
- 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.
See also
mstraj, lspb, ctraj
© 1990-2011 Peter Corke.