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Online-Trajectory-Planning-Manipulators

Project Description

This submission consists of online trajectory planning algorithms for 6-axis manipulators using double S velocity profile.

[Under Improvement and Translation, since the project is done in China]

Files Description

.
├── Traj_Planning
|   ├── OnlinePlanning.m        # Online Double S planning function
|   ├── robotInit.m             # Initialize robot model
|   ├── OnlinePlanning_test.m   # Example for OnlinePlanning on manipulators
|   ├── LineTracking.m          # Example for line tracking     
|   ├── CircleTracking.m        # Example for circle tracking
|
├── .gitignore
└── README.md
  • OnlinePlanning.m - Function of online trajecotry planning based on Double S Velocity Profile to reach the goal with continuous acceleration in discrete time
  • robotInit.m - Function of Initialize the 6-axis robot arm model using modified DH parameters on Robotics Toolbox
  • OnlinePlanning_test.m - Example of using online planning function to calculate the state planning for next interval within joint configuration
  • LineTracking.m - Example of using PID following to reach servo points (Line Trajcotry) with joint constraints (accleration is discontinuous)
  • CircleTracking.m - Example of using PID following to reach servo points (Circle Trajcotry) with joint constraints (accleration is discontinuous)

Features

Limitations

  • Planning Algorithms only consider position inputs and ignore orientation inputs