robotics trajectory generation with simulink

Hello,

I want to implement on simulink a trajectory generation for robotics applications.

The input is the position , for example 2.5m

I need to generate the trajectory in order to have a final position ( for ex 2.5m) while respecting the following criterias : I have to respect some criterias :

acceleration : 22m/s-2 deceleration : 12m/s-2 Maximum velocity: 3m/s

In fact the only variable i can adjust is the velocity in order to reach the position target by respecting acceleration & deceleration criteria.

I was thinking of a statemachine , have you got any ideas to make it as simple as possible?

Thanks a lot for your ideas.

Answer 1

[Birdman]

I made a simple model where you reach your position target either by a ramp function, or a sinusoidal function. Open the model attached and run it to see what I did. Hope this helps. There are annotations to help you understand what the model actually does.

[baptiste giroud]

Hello,

Thanks for your answer. Yes its helpful and its works, but not exactly how it should.

The deceleration criteria is not taking into account , which mean indeed you reach the position ( 2.5m in the example) but you never slow down before the 2.5m.

By knowing the final position, the required time to reach the position , the maximum acceleration , the maximum velocity and the maximum deceleration, i think this can be done like this:

Starting from 0 ( pos , time), each 10ms ( for ex) you increase the velocity ( respecting the acceleration) and you apply the deceleration. If the position is not reach during the time you want, you add a next step time, and so on until the 2.5m are achieved in the required time. I dont really know how to implement that in simulink.