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Robotics

This block generates quintic polynomial to move from initial (`q0`) to final (`qf`) joint angles as specified. Initial and final velocities are assumed to be zero. Outputs joint angles as well as joint angle rates.

The number of outputs to this block is three and all outputs are regular outputs.
The first output represents the joint state vector `q`.
The second output is the joint velocity vector `qd`.
The third output represents the joint acceleration vector `qdd`. Each of these vector valued signals must have `n` elements, where `n` is the number of elements of the vectors `q0` and `qf`.

Joint interpolated trajectory | |

q0 | [0, 0, 0, 0, 0, 0] |

qf | [%pi/4, %pi/2, -%pi/2, 0, 0, 0] |

tmax | 10 |

- q0 :
`n`-element vector. It describes the initial joint angles. - qf :
`n`-element vector. It describes the final joint angles. - tmax : scalar. The final time to complete the motion.

- always active:
**yes** - direct-feedthrough:
**yes** - zero-crossing:
**no** - mode:
**no** - number/sizes of inputs:
**0 /** - number/sizes of activation inputs:
**0 /** - number/sizes of outputs:
**3 / [-1,1], [-1,1], [-1,1]** - number/sizes of activation outputs:
**0 /** - continuous-time state:
**no** - discrete-time state:
**no** - name of computational function:
**rt_jtraj_cf5**

<PATH>/macros/rt_jtraj_if.sci[view code]

<PATH>/macros/rt_jtraj_cf5.sci[view code]

Corke, P.I. "A Robotics Toolbox for MATLAB", *IEEE Robotics and Automation Magazine*, Volume 3(1), March 1996, pp. 24-32