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<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN" "http://www.w3.org/TR/REC-html40/loose.dtd"><html><head> <title>Description of jtraj</title> <meta name="keywords" content="jtraj"> <meta name="description" content="JTRAJ Compute a joint space trajectory between two points"> <meta http-equiv="Content-Type" content="text/html; charset=iso-8859-1"> <meta name="generator" content="m2html © 2003 Guillaume Flandin"> <meta name="robots" content="index, follow"> <link type="text/css" rel="stylesheet" href="./m2html.css"></head><body><a name="_top"></a><div><a href="./index.html">Home</a> > <a href="index.html">.</a> > jtraj.m</div><!--<table width="100%"><tr><td align="left"><a href="./index.html"><img alt="<" border="0" src="./left.png"> Master index</a></td><td align="right"><a href="index.html">Index for . <img alt=">" border="0" src="./right.png"></a></td></tr></table>--><h1>jtraj</h1><h2><a name="_name"></a>PURPOSE <a href="#_top"><img alt="^" border="0" src="./up.png"></a></h2><div class="box"><strong>JTRAJ Compute a joint space trajectory between two points</strong></div><h2><a name="_synopsis"></a>SYNOPSIS <a href="#_top"><img alt="^" border="0" src="./up.png"></a></h2><div class="box"><strong>function [qt,qdt,qddt] = jtraj(q0, q1, tv, qd0, qd1) </strong></div><h2><a name="_description"></a>DESCRIPTION <a href="#_top"><img alt="^" border="0" src="./up.png"></a></h2><div class="fragment"><pre class="comment">JTRAJ Compute a joint space trajectory between two points [Q QD QDD] = JTRAJ(Q0, Q1, N) [Q QD QDD] = JTRAJ(Q0, Q1, N, QD0, QD1) [Q QD QDD] = JTRAJ(Q0, Q1, T) [Q QD QDD] = JTRAJ(Q0, Q1, T, QD0, QD1) Returns a joint space trajectory Q from state Q0 to Q1. The number of points is N or the length of the given time vector T. A 7th order polynomial is used with default zero boundary conditions for velocity and acceleration. Non-zero boundary velocities can be optionally specified as QD0 and QD1. The function can optionally return a velocity and acceleration trajectories as QD and QDD. Each trajectory is an mxn matrix, with one row per time step, and one column per joint parameter. See also: <a href="ctraj.html" class="code" title="function tt = ctraj(t0, t1, n)">CTRAJ</a>.</pre></div><!-- crossreference --><h2><a name="_cross"></a>CROSS-REFERENCE INFORMATION <a href="#_top"><img alt="^" border="0" src="./up.png"></a></h2>This function calls:<ul style="list-style-image:url(./matlabicon.gif)"></ul>This function is called by:<ul style="list-style-image:url(./matlabicon.gif)"></ul><!-- crossreference --><h2><a name="_source"></a>SOURCE CODE <a href="#_top"><img alt="^" border="0" src="./up.png"></a></h2><div class="fragment"><pre>0001 <span class="comment">%JTRAJ Compute a joint space trajectory between two points</span>0002 <span class="comment">%</span>0003 <span class="comment">% [Q QD QDD] = JTRAJ(Q0, Q1, N)</span>0004 <span class="comment">% [Q QD QDD] = JTRAJ(Q0, Q1, N, QD0, QD1)</span>0005 <span class="comment">% [Q QD QDD] = JTRAJ(Q0, Q1, T)</span>0006 <span class="comment">% [Q QD QDD] = JTRAJ(Q0, Q1, T, QD0, QD1)</span>0007 <span class="comment">%</span>0008 <span class="comment">% Returns a joint space trajectory Q from state Q0 to Q1. The number</span>0009 <span class="comment">% of points is N or the length of the given time vector T. A 7th</span>0010 <span class="comment">% order polynomial is used with default zero boundary conditions for</span>0011 <span class="comment">% velocity and acceleration. Non-zero boundary velocities can be</span>0012 <span class="comment">% optionally specified as QD0 and QD1.</span>0013 <span class="comment">%</span>0014 <span class="comment">% The function can optionally return a velocity and acceleration</span>0015 <span class="comment">% trajectories as QD and QDD.</span>0016 <span class="comment">%</span>0017 <span class="comment">% Each trajectory is an mxn matrix, with one row per time step, and</span>0018 <span class="comment">% one column per joint parameter.</span>0019 <span class="comment">%</span>0020 <span class="comment">% See also: CTRAJ.</span>0021 0022 <span class="comment">% Copyright (C) 1993-2008, by Peter I. Corke</span>0023 <span class="comment">%</span>0024 <span class="comment">% This file is part of The Robotics Toolbox for Matlab (RTB).</span>0025 <span class="comment">%</span>0026 <span class="comment">% RTB is free software: you can redistribute it and/or modify</span>0027 <span class="comment">% it under the terms of the GNU Lesser General Public License as published by</span>0028 <span class="comment">% the Free Software Foundation, either version 3 of the License, or</span>0029 <span class="comment">% (at your option) any later version.</span>0030 <span class="comment">%</span>0031 <span class="comment">% RTB is distributed in the hope that it will be useful,</span>0032 <span class="comment">% but WITHOUT ANY WARRANTY; without even the implied warranty of</span>0033 <span class="comment">% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the</span>0034 <span class="comment">% GNU Lesser General Public License for more details.</span>0035 <span class="comment">%</span>0036 <span class="comment">% You should have received a copy of the GNU Leser General Public License</span>0037 <span class="comment">% along with RTB. If not, see <http://www.gnu.org/licenses/>.</span>0038 0039 <a name="_sub0" href="#_subfunctions" class="code">function [qt,qdt,qddt] = jtraj(q0, q1, tv, qd0, qd1)</a>0040 <span class="keyword">if</span> length(tv) > 1,0041 tscal = max(tv);0042 t = tv(:)/tscal;0043 <span class="keyword">else</span>0044 tscal = 1;0045 t = [0:(tv-1)]'/(tv-1); <span class="comment">% normalized time from 0 -> 1</span>0046 <span class="keyword">end</span>0047 0048 q0 = q0(:);0049 q1 = q1(:);0050 0051 <span class="keyword">if</span> nargin == 3,0052 qd0 = zeros(size(q0));0053 qd1 = qd0;0054 <span class="keyword">elseif</span> nargin == 5,0055 qd0 = qd0(:);0056 qd1 = qd1(:);0057 <span class="keyword">else</span>0058 error(<span class="string">'incorrect number of arguments'</span>)0059 <span class="keyword">end</span>0060 0061 <span class="comment">% compute the polynomial coefficients</span>0062 A = 6*(q1 - q0) - 3*(qd1+qd0)*tscal;0063 B = -15*(q1 - q0) + (8*qd0 + 7*qd1)*tscal;0064 C = 10*(q1 - q0) - (6*qd0 + 4*qd1)*tscal;0065 E = qd0*tscal; <span class="comment">% as the t vector has been normalized</span>0066 F = q0;0067 0068 tt = [t.^5 t.^4 t.^3 t.^2 t ones(size(t))];0069 c = [A B C zeros(size(A)) E F]';0070 0071 qt = tt*c;0072 0073 <span class="comment">% compute optional velocity</span>0074 <span class="keyword">if</span> nargout >= 2,0075 c = [ zeros(size(A)) 5*A 4*B 3*C zeros(size(A)) E ]';0076 qdt = tt*c/tscal;0077 <span class="keyword">end</span>0078 0079 <span class="comment">% compute optional acceleration</span>0080 <span class="keyword">if</span> nargout == 3,0081 c = [ zeros(size(A)) zeros(size(A)) 20*A 12*B 6*C zeros(size(A))]';0082 qddt = tt*c/tscal^2;0083 <span class="keyword">end</span></pre></div><hr><address>Generated on Sun 15-Feb-2009 18:09:29 by <strong><a href="http://www.artefact.tk/software/matlab/m2html/">m2html</a></strong> © 2003</address></body></html>⌨️ 快捷键说明
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