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.
5.0
(1)
1.1K 次下载
更新时间 2016/2/21
在 GitHub 上查看许可证

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 .

MATLAB 版本兼容性
创建方式 R2012a
兼容任何版本
平台兼容性
Windows macOS Linux
类别
在 Help Center 和 MATLAB Answers 中查找有关 Nonlinear Optimization 的更多信息

Community Treasure Hunt

Find the treasures in MATLAB Central and discover how the community can help you!

Start Hunting!

无法下载基于 GitHub 默认分支的版本

版本 已发布 发行说明
1.4.0.0

changed title to be more clear
1.3.0.0

made title more clear
1.2.0.0

added photo. Updated name and description.
1.0.0.0

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。