This easy to use and simple Matlab/Octave script generates a 7 segment trajectory which can be used to move something jerk free from A to B or generate a trajectory for a control algorithm. In my case it was used to generate cyclic positions for a servo motor.
Using DoubleSTrajectoryFunction.m requires the following parameters:
- T_s: cycle time of the trajectory
- q_0: starting position
- q_1: end position of the trajectory
- v_0: starting velocity
- v_1: velocity at the end of the trajectory
- v_max: maximum velocity
- v_min: minimum velocity (negative edge)
- a_max: maximum acceleration
- a_min: minimum acceleration (negative edge)
- j_max: maximum jerk
- j_min: minimum jerk (negative edge)
The easiest way to test this trajectory matlab function is to start the DoubleSTrajectoryTest.m file under Matlab or octave. This should generate the following output and return a trajectory with the following contrains:
- T_s: 0.001
- q_0: 0 mm
- q_1: -30 mm
- v_0: 0 mm/s
- v_1: 0 mm/s
- v_max: 20 mm/s
- v_min: -20 mm/s
- a_max: 60 mm/s²
- a_min: -60 mm/s²
- j_max: 120 mm/s³
- j_min: 120 mm/s³
Matthias S.
matthias [at] seehauser [dot] at
https://www.seesle.at
MCI - Mechatronics
https://www.mci.at
KukaMatlabConnector von Matthias Seehauser ist lizenziert unter einer Creative Commons Namensnennung - Weitergabe unter gleichen Bedingungen 4.0 International Lizenz.
Beruht auf dem Werk unter https://www.github.com/seehma/KMC.
