Frequently we want a trajectory that moves smoothly through a series of points without stopping.
Search Results for: smoothing
We will learn how to create coordinate frames that have smoothly changing position and orientation over time.
A more efficient trajectory has a trapezoidal velocity profile.
An alternative for smooth motion between poses is Cartesian interpolated motion which leads to straight line motion in 3D space.
We will learn about inverse kinematics, that is, how to compute the robot’s joint angles given the desired pose of their end-effector and knowledge about the dimensions of its links. We will also learn about how to generate paths that lead to smooth coordinated motion of the end-effector.
We learn how to create smoothly varying orientation in 3D by interpolating Euler angles and Quaternions. In the MATLAB example starting at 5:44 I use the Quaternion class. For Toolbox version 10 (2017) please use UnitQuaternion instead.
We learn to compute a trajectory that involves simultaneous smooth motion of many robot joints.
The simplest smooth trajectory is a polynomial with boundary conditions on position, velocity and acceleration.
We consider the simplest possible robot, which has one rotary joint and an arm.