How to vary the output waypoints or number of outputs of a polynomial trajectory generator ?

I am using a polynomial trajectory generator. These are it's settings -

It constantly gives an output of 55 points for any settings. How can I increase the output or waypints ? Please suggest what settings I should change for it ?

Answer 1

[Raghava S N]

Hi @VIGNESH BALAJI,

You can refer to this example model - https://www.mathworks.com/help/releases/R2024b/robotics/ug/generate-cubic-poly-traj-ex1.html. The number of output samples generated by the polynomial trajectory generator is impacted by the sample times used in the model.

In the example model that I have shared above, if you change the sample time block parameter of one of the scope block from -1 to say 0.1, the number of output samples generated will change based on the stop time. So, to see a change in the number of outputs generated, you may seek to tweak the sample times used in your model and achieve the desired results.

Hope that helped!