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# Questions tagged [trajectory]

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17 questions with no upvoted or accepted answers
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### Trajectory tolerance limits

I have a trajectory planner, which calculates the trajectory assuming that the robot is following the planned trajectory. From sensors I get the position of the robot, which has an offset from the ...
• 311
1 vote
26 views

### How to avoid Cusps and Corners when generating spline?

Here I wrote Qubic spline trajectory generation. The following are the result. Spline that generated Curvature of the spline Yaw angle changes According to Figure 02, there is a sharp change in yaw ...
• 137
1 vote
48 views

I'm currently following a course on coursera on quadrotors, and i'm currently focusing on the trajectory planning mechanism. In the course, it's said that one of the criterias when planning a ...
• 147
1 vote
25 views

### Can I relate trajectory generation to differential inverse kinematics?

I am wondering how (if) one can translate trajectories of translation matrices to joint velocities? I'm reading the notes of Russ Tedrake's class on manipulation. One part of the notes concerns a ...
• 111
8 views

### Add constraints to cubic or quintic polynomial for robot arm trajectory generation

I am planing path for a robotic arm. I am using cubic/quintic polynomials for trajectory generation. How can I add constraints to cubic or quintic polynomial such that the generated trajectory is ...
• 63
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### Record itinerary of a robot with ros2 bag and replay it

I am trying to evaluate a slam algorithm and for that, I want to create several maps of my environment with the same itinerary of the robot. To do that I have tried: I recorded the topic /odom alone, ...
6 views

### How to do a continous trajectory in Staubli VAL 3

I am doing a trajectory passing from 6 points with these command in VAL 3: for m=0 to 6 step 1 movej(p_iman[m],tTool1,mNomSpeed) waitEndMove() endFor ...
50 views

### Why 4th degree polynomials aren't used for trajectory generation?

I'm building and programming a controller for a robotic manipulator. Currently I'm figuring out how to generate trajectories in joint space. I'm following Introduction to Robotics: Analysis, Control, ...
50 views

### Unreachable Velocity in Jerk Limited Trajectory

I've recently been developing a jerk limited trajectory algorithm. I've gone through all the analytical solutions for every profile to find the time optimal solution, and then quantized to the nearest ...
9 views

### Riding a robot model in Gazebo along a straight, curved path with feedback on a Raspberry running ROS

please be kind and advise how to implement the following: I have a computer with ROS and Gazebo in which I have a robot model in URDF format, I need this model to go on a straight/curved path(straight/...
20 views

### UR10 in self-destruction mode for certain trajectories

I am using a UR10 robot with official drivers with ROS1 (noetic) and python. I coded a trajectory generator that creates waypoints. These are also used by a trajectory server and sent to the robot. ...
24 views

### Smooth a timestamped series of translation and quaternion samples

I have a rosbag of transforms (of type TransformStamped) I'd like to smooth a small amount without altering the overall trajectory much, just reduce the higher ...
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175 views

### Trajectory generation for robotic manipulator using trapezoidal velocity profile in MATLAB

I am trying to write code in MATLAB to generate a trajectory for a scara manipulator in the robot operational space with trapezoidal velocity profile for each segment passing through 5 waypoints using ...
38 views

I have defined a quadcopter that I control with a PID controller. The dynamics that define it are such. $T=mg+m\ddot{z}$ $\theta=\frac{\ddot{x}}{-9.82}$ $\phi=\frac{\ddot{y}}{9.82}$ As you can see I ...
155 views

### Joint space trajectory script unclear

I have a script provided by The MathWorks Inc. that makes a robot end-effector follow both a task space and a joint space trajectory through several waypoints. These trajectories are then plotted in ...
• 169