Trajectory Generation and Following

Control manipulator joints to track trajectories

These functions use different mathematical equations for generating trajectories for manipulator robots. Polynomials, B-splines, and trapezoidal velocity profiles are supported and generate trajectories for multi degree-of-freedom (DOF) systems. You can also interpolate between rotation matrices and homogeneous transformations.

Provided examples show different applications of trajectory execution including planning, control, and simulation for shape tracing and pick-and-place workflows.

Functions

bsplinepolytrajGenerate polynomial trajectories using B-splines
cubicpolytrajGenerate third-order polynomial trajectories
quinticpolytrajGenerate fifth-order trajectories
rottrajGenerate trajectories between orientation rotation matrices
transformtrajGenerate trajectories between two transformations
trapveltrajGenerate trajectories with trapezoidal velocity profiles

Blocks

Polynomial TrajectoryGenerate polynomial trajectories through waypoints
Rotation TrajectoryGenerate trajectory between two orientations
Transform TrajectoryGenerate trajectory between two homogeneous transforms
Trapezoidal Velocity Profile TrajectoryGenerate trajectories though multiple waypoints using trapezoidal velocity profiles

Topics

Trajectory Control Modeling With Inverse Kinematics

This Simulink® example demonstrates how the Inverse Kinematics block can drive a manipulator along a specified trajectory.

Manipulator Shape Tracing in MATLAB and Simulink

This example shows how to trace a predefined 3-D shape in space.

Plan a Reaching Trajectory With Multiple Kinematic Constraints

This example shows how to use generalized inverse kinematics to plan a joint-space trajectory for a robotic manipulator.

Control LBR Manipulator Motion Through Joint Torque Commands

Given a set of desired joint configuration waypoints and a torque-controlled manipulator, this example shows how to implement the computed-torque controller using the inverseDynamics function.

Perform Safe Trajectory Tracking Control Using Robotics Manipulator Blocks

This example shows you how to use Simulink® with Robotics System Toolbox™ manipulator algorithm blocks to achieve safe trajectory tracking control for a simulated robot running in Simscape™ Multibody™.

Plan and Execute Task- and Joint-space Trajectories using KINOVA Gen3 Manipulator

This example shows how to generate and simulate interpolated joint trajectories to move from an initial to a desired end-effector pose.

Pick-and-Place Workflow using Stateflow for MATLAB

This example shows how to setup an end-to-end pick and place workflow for a robotic manipulator like the KINOVA® Gen3.

Simulate Joint-Space Trajectory Tracking in MATLAB

This example shows how to simulate the joint-space motion of a robotic manipulator under closed-loop control.

Visualize Manipulator Trajectory Tracking with Simulink 3D Animation

This example shows users how to simulate joint-space trajectories for a rigid body tree robot model and visualize the results with Simulink 3D Animation™.