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# Robotics Toolbox for Matlab

Document source : www.dii.unisi.it

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jtraj
34
jtraj
Purpose
Compute a joint space trajectory between two joint coordinate poses
Synopsis
[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)
Description
jtraj
returns a joint space trajectory
q
from joint coordinates
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 trajectory is a matrix, with one row per time step, and one column per joint. The function can
optionally return a velocity and acceleration trajectories as
qd
and
qdd
respectively.
ctraj
Robotics Toolbox Release 8
Peter Corke, December 2008

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Summary :

## jtraj 34 jtraj Purpose Compute a joint space trajectory between two joint coordinate poses Synopsis [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) Description jtraj returns a joint space trajectory q from joint coordinates q0 to q1 .

Tags : qdd,joint,jtrajq0,qd1,jtraj,trajectory,qd0,optionally,per,boundary,elocity,space,acceleration
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