![]() ![]() Each via point has the time that the robot passes through the configuration as well as the velocity at that time. This figure shows a path designed for a two-joint robot using four via points: the start point, the end point, and two other vias. This is third-order polynomial interpolation with specified via times and velocities. We then apply four terminal constraints, the initial and final position and the initial and final velocity of joint i, to solve for the four coefficients of the polynomial. For joint i, moving between via points j and j-plus-one, we could define the motion as a third-order polynomial of time. Let's consider motion in an n-dimensional joint space. In this case, we solve directly for a trajectory we do not first find a path and then time scale it. ![]() The choice of the via points and times allows us to shape the path and trajectory. We then solve for a smooth trajectory that passes through the via points at the specified times. We also specify the times at which the robot should achieve each of these via points. These configurations are called via points. If we want more flexibility to design the shape of the path, as well as the speed with which it is executed, we could specify a set of configurations through which we would like the robot to transit. ![]() In the last two videos we learned how to define straight-line paths and then time scale them to get trajectories. ![]()
0 Comments
Leave a Reply. |