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Robotics Toolbox for Matlab

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ctraj
10
ctraj
Purpose
Compute a Cartesian trajectory between two points
Synopsis
TC = ctraj(T0, T1, m)
TC = ctraj(T0, T1, r)
Description
ctraj
returns a Cartesian trajectory (straight line motion)
TC
from the point represented by
homogeneous transform
T0
to
T1
. The number of points along the path is
m
or the length of
the given vector
r
. For the second case
r
is a vector of distances along the path (in the range
0 to 1) for each point. The first case has the points equally spaced, but different spacing may
be specified to achieve acceptable acceleration profile.
TC
is a 4
× 4 × m matrix.
Examples
To create a Cartesian path with smooth acceleration we can use the
jtraj
function to create
the path vector
r
with continuous derivitives.
>> T0 = transl([0 0 0]);
T1 = transl([-1 2 1]);
>> t= [0:0.056:10];
>> r = jtraj(0, 1, t);
>> TC = ctraj(T0, T1, r);
>> plot(t, transl(TC));
0
1
2
3
4
5
6
7
8
9
10
-1
-0.5
0
0.5
1
1.5
2
Time (s)
trinterp, qinterp, transl
References
R. P. Paul, Robot Manipulators: Mathematics, Programming, and Control.
Cambridge,
Massachusetts: MIT Press, 1981.
Robotics Toolbox Release 8
Peter Corke, December 2008

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Summary :

ctraj 10 ctraj Purpose Compute a Cartesian trajectory between two points Synopsis TC = ctraj(T0, T1, m) TC = ctraj(T0, T1, r) Description ctraj returns a Cartesian trajectory (straight line motion) TC from the point represented by homogeneous transform T0 to T1 .

Tags : gtgt,path,cartesian,ector,ctrajt0,ctraj,points,acceleration,case,point,along,create,trajectory
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