Hello,
Creating a waypoints trajectory without inertia, especially for straight-line movement, typically involves specifying not only the position waypoints but also the desired orientation, velocities, and potentially accelerations at each waypoint to ensure precise control over the movement.
If you are experiencing issues with the trajectory not being straight or the angular velocity not behaving as expected, it could be due to several factors, including how the waypoints are defined, the interpolation method used, and the control algorithm.
Here are some steps you can take to create a straight-line trajectory without inertia effects:
% Define waypoints for a straight line in 2D space
waypoints = [0, 0; 10, 0; 20, 0];
% Set orientations to be the same at each waypoint (assuming 2D)
orientations = [0; 0; 0];
% Set angular velocities to zero
angular_velocities = [0; 0; 0];
% Define the times at which you want to reach each waypoint
times = [0; 5; 10];
% Use the 'trapveltraj' function or similar to generate trajectories
[position, velocity, acceleration] = trapveltraj(waypoints', numel(times), 'EndTime', times);
% Now, you can use the generated position, velocity, and acceleration for your control algorithm
For more information refer following link: https://www.mathworks.com/matlabcentral/answers/620303-waypointtrajectory-orientation-is-not-matching?s_tid=answers_rc1-2_p2_MLT
