Polynomial trajectory planing Robotic System toolbox 3rd order polynomial

I want to know what is meant by Time and TimePoints in the Polynomial Trajectory Block - Robotic System Toolbox

And I want to know wether this block can be used for realtime trajectory planing.If there is a realtime signal of xyz coordinates. How? Suggestions?

Thank you

[Pedro Marques]

Him were you able to find a solution?

I'm dealing with the same problem. Whenever I try to run my waypoints, if I dont start it exacly on time it will jump from on point to another.

Answer 1

[Aman Vyas]

Hi,

Basically the time give the instants at which we get three outputs i.e. position, velocity and acceleration. The initial and final values are held constant outside the time period defined in Time points.

The detailed explaination of both these terminology is provided in the below link :

https://www.mathworks.com/help/robotics/ref/polynomialtrajectory.html?s_tid=srchtitle

As per my understanding time accepts saclar or double value, if you can provide data of time in real time then it should work fine. You can look at this example where manipulator trajectory tracking is shown:

https://www.mathworks.com/help/robotics/ug/visualize-manipulator-trajectory-tracking-with-simulink-3d.html?s_tid=srchtitle

Hope it helps !