% Use a trapezoidal velocity profile to generate a smooth trajectory from the home position to the start position, and then to the end position. Use collision checking to see whether this results in any collisions.q=trapveltraj([homeConfiguration(robot),startConfig,endConfig],200,"EndTime",2)...
⛄ 部分代码 clear; close all; %% Simulation Parameters dt = 0.001; % simulation time step controllerRate = 0.01; % interval at which the controller activates plan_rate = 0.5; gps_rate = 0.1; % 10Hz gps update vicon_rate = 0.0025; %400hz update for the vicon system motor_control_peri...
For example, if you utilize the kinematicTrajectory() function, it will generate a trajectory based on acceleration and angular velocity. Similarly, if you use the kinematicTrajectory() function with specific properties, it will set those properties accordingly. ...
q qd qdd分别为各个关节的角度,角速度和角加速度% 已知关节的角度、角速度、角加速度等信息,求各关节所需提供的力矩% Inverse dynamics% tau = R.rne(q, qd, qdd, options) is the joint torque required for the robot R to achieve% the specified joint position q (1 N), velocity qd (1 N) ...
The model uses a trapezoidal velocity profile to generate the reference velocity The mat file contains the waypoints for the US Highway scene exported from the Driving Scenario Designer The Stanley controller outputs steering, acceleration, and deceleration commands to track the reference trajectory Th...
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