How do I carry out this trajectory through this data?

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ANDRÉS MAURICIO DÍAZ BELTRÁN
回答： Steve Miller 2022-11-26
I need to do this route, I have one that runs in a circle but I have no idea of ​​doing it for a square like the one in the image.
In addition, I must do it with these data.
My simulink model for the circle is the following.
I am attaching my two files to generate the model.

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回答（1 个）

Steve Miller
Steve Miller 2022-11-26
You can use the Repeating Sequence block to define the sequence for the square. I have attached the model to this answer.
Below you can see the animation for the IK solution for the circular path and the square path
Circular path
Square path (green circle shown as a visual reference)

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