Minimum-Jerk Trajectory with Constraints
版本 1.4.0.0 (12.1 KB) 作者:
Matthew Kelly
Solve multi-segment kinematic trajectory optimization. Minimum jerk, Chebyshev collocation.
This project uses multi-segment Chebyshev orthogonal collocation to find minimal-jerk kinematic trajectories that pass through a set of desired way-points, while meeting a set of angle and rate constraints along the path. The user can specify the number of way-points and order of the interpolating polynomial between the way-points. Optimization is solved as a quadratic program. Includes example for a 2 link robot arm task.
引用格式
Matthew Kelly (2024). Minimum-Jerk Trajectory with Constraints (https://github.com/MatthewPeterKelly/Kinematic_Constrained_Trajectory), GitHub. 检索来源 .
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R2012a
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要查看或报告此来自 GitHub 的附加功能中的问题,请访问其 GitHub 仓库。
要查看或报告此来自 GitHub 的附加功能中的问题,请访问其 GitHub 仓库。