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大小: 2KB文件类型: .rar金币: 2下载: 2 次发布日期: 2021-06-03
- 语言: 其他
- 标签: robotic trajectory planning
资源简介
点到点轨迹规划的S曲线,已知起始位置、终止位置、最大速度、最大加速度、总的运动时间、这5个参数,自动计算出运动规划曲线(若输入的参数不合适,代码可以自行计算出合适参数)
代码片段和文件信息
%% 自适应S曲线
clc;
clear;
close all;
%%
N = 500;
%% 1
ThetaStart = 0;
ThetaEnd = 90;
VTheta = 90; %1
ATheta = 135; %1.5
Tf = 1.8;
%% 2
% ThetaStart = 90;
% ThetaEnd = 00;
% VTheta = 99; %1.1
% ATheta = 180; %2
% Tf = 1.8;
%% J<0
% ThetaStart = 90;
% ThetaEnd = 00;
% VTheta = 1.8 * (ThetaEnd - ThetaStart);
% ATheta = 3 * (ThetaEnd - ThetaStart);
% Tf = 0.1;
%% t4<0
% ThetaStart = 90;
% ThetaEnd = 00;
% VTheta = 5 * (ThetaEnd - ThetaStart);
% ATheta = 2 * (ThetaEnd - ThetaStart);
% Tf = 3;
%% t2<0
% ThetaStart = 90;
% ThetaEnd = 00;
% VTheta = 5 * (ThetaEnd - ThetaStart);
% ATheta = 40 * (ThetaEnd - ThetaStart);
% Tf = 3;
%%
v = VTheta/(ThetaEnd - ThetaStart);
a = ATheta/(ThetaEnd - ThetaStart);
v = abs(v);
a = abs(a);
% %J<0
% Tf = 0.1;
% v = 1.8;
% a = 3;
% Tf = 1.2556;
% v = 1.5831;
% a = 3;
%t4<0
% Tf = 3;
% v = 1.8;
% a = 2;
% %t2<0
% Tf = 3;
% v = 5;
% a = 40;
display(Tf‘原始Tf:‘);
display(v‘原始v:‘);
display(a‘原始a:‘);
Theta = zeros(1N);
s = zeros(1N);
sd = zeros(1N);
sdd = zeros(1N);
[TFVAJT] = SCurvePara(Tf v a);
display(J ‘新J:‘);
display(TF‘新Tf:‘);
display(V‘新v:‘);
display(A ‘新da:‘);
display(TF-Tf‘新dTf:‘);
display(V-v‘新dv:‘);
display(A-a ‘新da:‘);
t=linspace(0TFN);
dt = t(2) - t(1);
for i = 1:N
if i == N
a = a;
end
s(i) = SCurveScaling(t(i)VAJTTF);
Theta(i) = ThetaStart + s(i) * (ThetaEnd - ThetaStart);
if i>1
sd(i-1) = (s(i) - s(i-1)) / dt;
end
if i>2
sdd(i-2) = (sd(i-1) - sd(i-2)) / dt;
end
end
figure;
plot(tTheta)
legend(‘Theta‘);
xlabel(‘t‘);
ylabel(‘theta‘);
figure;
plot(ts)
legend(‘s‘);
xlabel(‘t‘);
ylabel(‘s‘);
figure;
plot(tsd);
legend(‘s的一阶导数‘);
xlabel(‘t‘);
ylabel(‘s的一阶导数‘);
figure
plot(tsdd);
legend(‘s的二阶导数‘);
xlabel(‘t‘);
ylabel(‘s的二阶导数‘)
属性 大小 日期 时间 名称
----------- --------- ---------- ----- ----
文件 1928 2018-09-01 13:18 SCurve\JointTrajectorySCurve.m
文件 647 2018-07-11 15:22 SCurve\SCurvePara.m
文件 2032 2018-07-11 14:37 SCurve\SCurveScaling.m
目录 0 2018-07-23 11:33 SCurve
----------- --------- ---------- ----- ----
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