- The “transformtraj” function in MATLAB mainly focuses on creating a smooth interpolation between the initial and final transformations, which includes both position and orientation changes over time.
- Achieving a "minimum jerk" trajectory involves a specific optimization criterion that minimizes the integral of the square of the jerk over the movement duration.
- If your application requires a strict minimum jerk trajectory, you can use the “minjerkpolytraj” function that generates a minimum jerk polynomial trajectory from given set of input waypoints with their corresponding time points.
- This function returns positions, velocities, accelerations, and jerks at the given number of samples.
I had a question regarding 'transformtraj' function
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Hi. i have looked into the function after trying to run the example given inside the function's code.
some how, it looks as the minimum jerk trajectory doesn't meets the set time interval.
is it a bug? or dont i understand the function's intention?
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MULI
2024 年 4 月 23 日
編集済み: MULI
2024 年 4 月 23 日
Hi Gal,
I understand that when you ran one of the examples in documentation provided for ‘transformtraj’ you could not get minimum trajectory function.
You may refer to this documentation link for more information
Hope this clears your query!
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