• Library
• Description
• Dialog Box
• Default Properties
• Interfacing Function
• Computational Function (type 5)
• See Also
• Bibliography

rt_jtraj_if

Library

Robotics

Description

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.

Dialog Box

• 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.

Default Properties

• 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

Interfacing Function

<PATH>/macros/rt_jtraj_if.sci

Computational Function (type 5)

<PATH>/macros/rt_jtraj_cf5.sci

See Also

rt_jtraj,  

Bibliography

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