These functions use different mathematical equations for generating trajectories for manipulator robots. Polynomials, B-splines, and trapezoidal velocity profiles enable you to generate trajectories for multi-degree-of-freedom (DOF) systems. You can also interpolate between rotation matrices and homogeneous transformations.
The examples show different applications of trajectory execution including planning, control, and simulation for shape tracing and pick-and-place workflows.
Minimum Jerk and Snap Trajectories
Trapezoidal Velocity Profile Trajectory
Cubic and Quintic Polynomial Trajectories
B-Spline and Piecewise Polynomial Trajectories
Rotation and Transformation Trajectories
|Polynomial Trajectory||Generate polynomial trajectories through waypoints (Since R2019a)|
|Rotation Trajectory||Generate trajectory between two orientations (Since R2019a)|
|Transform Trajectory||Generate trajectory between two homogeneous transforms (Since R2019a)|
|Trapezoidal Velocity Profile Trajectory||Generate trajectories through multiple waypoints using trapezoidal velocity profiles (Since R2019a)|
- Choose Trajectories for Manipulator Paths
This example provides an overview of the types of trajectories available in Robotics System Toolbox™.
- Generate Time-Optimal Trajectories with Constraints Using TOPP-RA Solver
This example shows how to generate trajectories that satisfy velocity and acceleration limits.
- Manipulator Shape Tracing in MATLAB and Simulink
This example shows how to trace a predefined 3-D shape in space.