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