robotics trajectory generation with simulink

2018 4 13
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更新时间：2018 4 15
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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.

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回答（1 个）

Birdman
Birdman 2018-4-14

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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.

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baptiste giroud
baptiste giroud 2018-4-15
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.

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