Related to Robotic frame navigation along 3D trajectory.

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Mohammed Hyder Ali 2021-5-21

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回答： Remo Pillat 2021-11-11

I was working over robotic frames simulation and got stuck. I am not getting idea to write program to navigate a robotic frame along 3D trajectory with initial pose and final pose given. Even need to demonstrate velocity/acceleration variations. Can anyone help me out to solve this ?

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Answer 1

Remo Pillat 2021-11-11

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Hi Mohammed,

If you have a given start and end pose, there are different ways how you can interpolate between them. There are several MathWorks tools that could be helpful for you:

To smoothly interpolate 3D orientations, I suggest you look at the quaternion/slerp function.
To smoother interpolate 3D poses (orientations + positions), you can use various trajectory functions, e.g. waypointTrajectory and kinematicTrajectory.