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# jtraj

Compute a joint space trajectory between two configurations

[q,qd,qdd] = jtraj(q0, qf, m) is a joint space trajectory q (MxN) where the joint coordinates vary from q0 (1xN) to qf (1xN). A quintic (5th order) polynomial is used with default zero boundary conditions for velocity and acceleration. Time is assumed to vary from 0 to 1 in m steps. Joint velocity and acceleration can be optionally returned as qd (MxN) and qdd (MxN) respectively. The trajectory q, qd and qdd are MxN matrices, with one row per time step, and one column per joint.

[q,qd,qdd] = jtraj(q0, qf, m, qd0, qdf) as above but also specifies initial and final joint velocity for the trajectory.

[q,qd,qdd] = jtraj(q0, qf, T) as above but the trajectory length is defined by the length of the time vector T (Mx1).

[q,qd,qdd] = jtraj(q0, qf, T, qd0, qdf) as above but specifies initial and final joint velocity for the trajectory and a time vector.

## See also

qplot, ctraj, SerialLink.jtraj

© 1990-2014 Peter Corke.