Related to Robotic frame navigation along 3D trajectory.

I was working over robotic frames simulation and got stuck. I am not getting idea to write program to navigate a robotic frame along 3D trajectory with initial pose and final pose given. Even need to demonstrate velocity/acceleration variations. Can anyone help me out to solve this ?

Answer 1

[Remo Pillat]

Hi Mohammed,

If you have a given start and end pose, there are different ways how you can interpolate between them. There are several MathWorks tools that could be helpful for you:

• To smoothly interpolate 3D orientations, I suggest you look at the quaternion/slerp function.
• To smoother interpolate 3D poses (orientations + positions), you can use various trajectory functions, e.g. waypointTrajectory and kinematicTrajectory.