Trajectory Generation API

The Trajectory Generation API allows users to generate trajectories for each servo axis, which can be used as set points or time functions that must be tracked by controllers.

Example Use

In the following example, the trajectory generation scheme for a 6 dimensional robot called PUMA is described. The structure "pumasetpoint_t" contains several variables including 3 dimensional vectors for desired position (desPos), desired velocity (desPosVel) and desired aceleration (desPosAcc). The structure also contains 3 dimensional vectors describing the orientation of the robot end-effector, the desired orientation (desTRSF), the desired angular velocity (desOmega) and the desired angular acceleration (desOmegaDot). The trajectories are generated using a trapezoidal velocity profile- the parameters for generating this velocity profile are initial position (startPos, startTRSF), final positon (finalPos, finalTRSF),times ta, tb and tf as shown in the figure, and the maximum velocity (maxPosVel).
typedef struct sVel).
typedef struct pumasetpoint_s{
int numAxis;
VECTOR3 startPos;
VECTOR3 finalPos;
VECTOR3 maxPosVel;
VECTOR3 desPos;
VECTOR3 desPosVel;
VECTOR3 desPosAcc;
TRANSFORM startTRSF;
TRANSFORM finalTRSF;
TRANSFORM desTRSF;
VECTOR3 desOmega;
VECTOR3 desOmegaDot;
float ta;
float tb;
float tf;
float t;
}pumasetpoint_t;
pumasetpoint_t PUMA;
void Isr1_PUMATrajGen()
{
spatStrLineTrapezoid(&PUMA.desPos,&PUMA.desPosVel,&PUMA.desPosAcc, &PUMA.startPos,&PU&PUMA.startPos,&PUMA.finalPos,PUMA.ta,PUMA.tb,PUMA.tf, &PUMA.maxPosVel,PUMA.t);
rotTrapezoid(&PUMA.desTRSF,&PUMA.desOmega,&PUMA.desOmegaDot, &PUMA.startTRSF, &PUMA.finalTRSF,PUMA.ta, PUMA.tb, PUMA.tf, PUMA.t );
}

Method Index

o oneDimTrapezoid()
o StrLineTrapezoid();
o trajGenPVA()
o spatStrLineTrapezoid()
o circArcTrapezoid()
o rotTrapezoid()
o *rotConstrTrapezoid()

Methods

o oneDimTrapezoid 
void oneDimTrap 
void oneDimTrapezoid(float *lambda, float *lambdaDot, float *lambdaDDot, float
ta, float tb, float tf, float t);



o
StrLineTrapezoid 
void StrLineTrapezoid(float *desPos, float *desVel, float *desAcc, unsigned
int numAxis, float *startPos, float *finalPos, float tb, float ta,
float tf, float *maxVel, float t); 



o
 trajGenPVA
void trajGenPVA(float *desPos, float *desVel, float *desAcc, unsigned
int numAxis, float *startPos, float *finalPos, float *paramVec, float
tf, float *maxVel, float t, void (*posFunc)(void *, void *, void *,
void *, void *, void *, void *, void *, void *), void
(*lambdaFunc)(void *, void *, void *, void *)); 



o
spatStrLineTrapezoid
void spatStrLineTrapezoid(VECTOR3 *desPos, VECTOR3 *desVel, VECTOR3
*desAcc, VECTOR3 *startPos, VECTOR3 *finalPos, float ta, float tb, float tf,
VECTOR3 *maxVel, float t);



o
circArcTrapezoid
void circArcTrapezoid(VECTOR3 *desPos, VECTOR3 *desVel, VECTOR3
*desAcc, VECTOR3 *startPos, VECTOR3 *finalPos, VECTOR3 *centerPos,
float angle,, VECTOR3 *centerPos,
float angle, float ta, float tb, float tf, VECTOR3 *maxVel, float t);



o
rotTrapezoid
void rotTrapezoid(TRANSFORM *Ades, VECTOR3 *omega, VECTOR3 *omegadot,
TRANSFORM *Astart, TRANSFORM *Afinal, float ta, float tb, float tf,
float t); 



o
*rotConstrTrapezoid
TRANSFORM *rotConstrTrapezoid( TRANSFORM *A, VECTOR3 *ni, VECTOR3 *nf,
VECTOR3 *ovec, float ta, float tb, float tf, float t);




Last modified: Mon Feb 15 00:02:37 Eastern Standard
Time 1999


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