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mstraj

Multi-segment multi-axis trajectory

traj = mstraj(p, qdmax, tseg, q0, dt, tacc, options) is a trajectory (KxN) for N axes moving simultaneously through M segment. Each segment is linear motion and polynomial blends connect the segments. The axes start at q0 (1xN) and pass through M-1 via points defined by the rows of the matrix p (MxN), and finish at the point defined by the last row of p. The trajectory matrix has one row per time step, and one column per axis. The number of steps in the trajectory K is a function of the number of via points and the time or velocity limits that apply.

traj = mstraj(segments, qdmax, q0, dt, tacc, qd0, qdf, options) as above but additionally specifies the initial and final axis velocities (1xN).

Options

'verbose' Show details.

Notes

See also

mtraj, lspb, ctraj


 

© 1990-2014 Peter Corke.