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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 enable you to generate trajectories for multi-degree-of-freedom (DOF) systems. You can also interpolate between rotation matrices and homogeneous transformations.

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


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bsplinepolytrajGenerate polynomial trajectories using B-splines
contopptrajGenerate trajectory subject to kinematic constraints
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


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