Robotics Toolbox transl jtraj ctraj函数介绍
writen by wqj1212
函数命：transl
Purpose: translation transformation
Synopsis: T=transl(x,y,z)
T=transl(v)
v=Transl(T)
xyz=transl(TC)
Description;
The first two forms return a homogeneous transformation representing a translation expressed as
three scalar x,y and z,Or a Cartesian vector v
The third form returns the translation part of a homogeneous transform as a 3-element column vector
The forth form returns a matrix whose columns are the X,Y and Z columns pf the 4x4xm Cartesian trajectory matrix Tc
函数命：ctraj
Purpose : Compute a Cartesian trajectory between two points
Synopsis: TC = ctraj(T0, T1, m)
TC = ctraj(T0, T1, r)
Description:
ctraj returns a Cartesian trajectory (straight line motion) TC from the point represented by
homogeneous transform T0 to T1. The number of points along the path is m or the length of
the given vector ector r. For the second case r is a vector of distances along the path (in the range
0 to 1) for each point. The first case has the points equally spaced, but different spacing may
be specified to achieve acceptable acceleration profile. TC is a 4×4×m matrix.
函数命：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 ault 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 respecti respectively .
Examples To create a Cartesian path with smooth acceleration we can use the jtraj function to create
the path vector ector r with continuous derivitives.
>> T0 = transl([0 0 0]); T1 = transl([-1 2 1]);
>> t= [0:0.056:10];
>> r = jtraj(0, 1, t);
>> TC = ctraj(T0, T1, r);
>> plot(t, transl(TC));
函数命：translPurpose: translation transformationSynopsis: T=transl(x,y,z) T=transl(v) v=Transl(T) xyz=transl(TC)Description;The first two forms return a homogeneous transformation representing a translation expressed as three scalar x,y and z,Or a Cartesian vector vThe third form returns the translation part of a homogeneous transform as a 3-element column vectorThe forth form returns a matrix whose columns are the X,Y and Z columns pf the 4x4xm Cartesian trajectory matrix Tc函数命：ctrajPurpose : Compute a Cartesian trajectory between two pointsSynopsis: TC = ctraj(T0, T1, m) TC = ctraj(T0, T1, r)Description: ctraj returns a Cartesian trajectory (straight line motion) TC from the point represented byhomogeneous transform T0 to T1. The number of points along the path is m or the length ofthe given vector ector r. For the second case r is a vector of distances along the path (in the range0 to 1) for each point. The first case has the points equally spaced, but different spacing maybe specified to achieve acceptable acceleration profile. TC is a 4×4×m matrix. 函数命：jtrajPurpose: Compute a joint space trajectory between two joint coordinate posesSynopsis : [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 nor the length of the given time vector t. A 7th order polynomial is used with default ault zero boundaryconditions 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 canoptionally return a velocity and acceleration trajectories as qd and qdd respecti respectively .Examples To create a Cartesian path with smooth acceleration we can use the jtraj function to createthe path vector ector r with continuous derivitives. >> T0 = transl([0 0 0]); T1 = transl([-1 2 1]);>> t= [0:0.056:10];>> r = jtraj(0, 1, t);>> TC = ctraj(T0, T1, r);>> plot(t, transl(TC));
