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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 rttgdemo</title> <meta name="keywords" content="rttgdemo"> <meta name="description" content="RTTRDEMO Trajectory demo"> <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="#">demos</a> > rttgdemo.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 ./demos <img alt=">" border="0" src="../right.png"></a></td></tr></table>--><h1>rttgdemo</h1><h2><a name="_name"></a>PURPOSE <a href="#_top"><img alt="^" border="0" src="../up.png"></a></h2><div class="box"><strong>RTTRDEMO Trajectory demo</strong></div><h2><a name="_synopsis"></a>SYNOPSIS <a href="#_top"><img alt="^" border="0" src="../up.png"></a></h2><div class="box"><strong>This is a script file. </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">RTTRDEMO Trajectory demo</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">%RTTRDEMO Trajectory demo</span>0002 0003 <span class="comment">% Copyright (C) 1993-2002, by Peter I. Corke</span>0004 <span class="comment">% $Log: not supported by cvs2svn $</span>0005 <span class="comment">% Revision 1.3 2002-04-02 12:26:49 pic</span>0006 <span class="comment">% Handle figures better, control echo at end of each script.</span>0007 <span class="comment">% Fix bug in calling ctraj.</span>0008 <span class="comment">%</span>0009 <span class="comment">% Revision 1.2 2002/04/01 11:47:18 pic</span>0010 <span class="comment">% General cleanup of code: help comments, see also, copyright, remnant dh/dyn</span>0011 <span class="comment">% references, clarification of functions.</span>0012 <span class="comment">%</span>0013 <span class="comment">% $Revision: 1.1 $</span>0014 <span class="comment">%*****************************trajectory****************************************</span>0015 figure(2)0016 echo on0017 <span class="comment">% The path will move the robot from its zero angle pose to the upright (or</span>0018 <span class="comment">% READY) pose.</span>0019 <span class="comment">%</span>0020 <span class="comment">% First create a time vector, completing the motion in 2 seconds with a</span>0021 <span class="comment">% sample interval of 56ms.</span>0022 t = [0:.056:2];0023 pause <span class="comment">% hit any key to continue</span>0024 <span class="comment">%</span>0025 <span class="comment">% A polynomial trajectory between the 2 poses is computed using jtraj()</span>0026 <span class="comment">%</span>0027 q = jtraj(qz, qr, t);0028 pause <span class="comment">% hit any key to continue</span>0029 0030 <span class="comment">%</span>0031 <span class="comment">% For this particular trajectory most of the motion is done by joints 2 and 3,</span>0032 <span class="comment">% and this can be conveniently plotted using standard MATLAB operations</span>0033 subplot(2,1,1)0034 plot(t,q(:,2))0035 title(<span class="string">'Theta'</span>)0036 xlabel(<span class="string">'Time (s)'</span>);0037 ylabel(<span class="string">'Joint 2 (rad)'</span>)0038 subplot(2,1,2)0039 plot(t,q(:,3))0040 xlabel(<span class="string">'Time (s)'</span>);0041 ylabel(<span class="string">'Joint 3 (rad)'</span>)0042 0043 0044 pause <span class="comment">% hit any key to continue</span>0045 <span class="comment">%</span>0046 <span class="comment">% We can also look at the velocity and acceleration profiles. We could</span>0047 <span class="comment">% differentiate the angle trajectory using diff(), but more accurate results</span>0048 <span class="comment">% can be obtained by requesting that jtraj() return angular velocity and</span>0049 <span class="comment">% acceleration as follows</span>0050 [q,qd,qdd] = jtraj(qz, qr, t);0051 <span class="comment">%</span>0052 <span class="comment">% which can then be plotted as before</span>0053 0054 subplot(2,1,1)0055 plot(t,qd(:,2))0056 title(<span class="string">'Velocity'</span>)0057 xlabel(<span class="string">'Time (s)'</span>);0058 ylabel(<span class="string">'Joint 2 vel (rad/s)'</span>)0059 subplot(2,1,2)0060 plot(t,qd(:,3))0061 xlabel(<span class="string">'Time (s)'</span>);0062 ylabel(<span class="string">'Joint 3 vel (rad/s)'</span>)0063 pause(2)0064 <span class="comment">% and the joint acceleration profiles</span>0065 subplot(2,1,1)0066 plot(t,qdd(:,2))0067 title(<span class="string">'Acceleration'</span>)0068 xlabel(<span class="string">'Time (s)'</span>);0069 ylabel(<span class="string">'Joint 2 accel (rad/s2)'</span>)0070 subplot(2,1,2)0071 plot(t,qdd(:,3))0072 xlabel(<span class="string">'Time (s)'</span>);0073 ylabel(<span class="string">'Joint 3 accel (rad/s2)'</span>)0074 pause <span class="comment">% any key to continue</span>0075 echo off</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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