Trajectory Generation

Different methods of generating parametric trajectories (joint variables as a function of time) for path planning in robotics applications is explained in this video, including polynomials (cubic and quintic), trapezoidal-velocity profile and s-curve (seven segment).

[@srenh-p3798]

Very informative. I really liked how you qualified the difference between path planning and trajectory generation by giving the context of physical limitations on acceleration and torque.

[@anshumansharma6758]

Best descriptive explanation for S Curve. Thanks very much.

[@jannisbruns3677]

thank you very much for the explanation, very well done and understandable, it helped me a lot!

[@eliascorrea220]

Nice video, it was very clear the explanation. Thank you to share it.

[@ayaz8767]

Professor, Quite informative video. Thanks for your effort to share this clean,precise explanations. Matlab codes also much more supportive. Best wishes

[@zuhairomer9501]

Thanks a lot for this high value videos

[@nghiakhac6530]

Many thanks, It help my problem !

[@AbdulRahman-jz3px]

Thank you for the excellent explanation, this video really helped me understand the course material. I want to ask, can these methods be applied to a simple robot arm using a microcontroller like Arduino? if yes can you give me an idea.

[@sgtstrolch]

Did you also solve to calculate the final time like you did in 53:14 under using the quintic polynom?
Great video btw!

[@AdnanAhmad-wo5jo]

Good explanation

[@CAPTIS-3D]

Great video, great explanation and the equations really works well

[@mehran1384]

Thanks. Happy that you found the video helpful. Please share this channel with your friends.

[@CAPTIS-3D]

@@mehran1384 Can you share me the Matlab code?

[@CAPTIS-3D]

I am having some problems with the S-curve planning, I don't get to create the q position correctly.

[@mahnazandalibi3962]

Thanks

[@hollowthetop]

@@CAPTIS-3D check again q1,..q7 matlab equations. They are in function of t not t1 or t2,3,4,5,6,7.

[@asmaalahrechguendouz2447]

Thank you for the video, is the speed profile generated in this video valid for an autonomous vehicle testing or is it only for robotics ( angles) ?

[@ltd5480]

How can I interpolate this on 2 axis for them to end at the same time?

[@user-fs5my7fi7t]

Hello, sir. If I want to execute this in Simulink, how can I convert it? I would like to add PID motor position control after the S-curve.

[@asmaalahrechguendouz2447]

hello, you can take you input i suppose the speed and add a line in your code
V = timeseries(v', t');
and then go to Simulink and add a "from workspace" box and add your V (v is the vector calculated in the algorithm, and t is the time )

[@arulrajarulraj1671]

Which trajectory planning technique and algorithms employed in robotics???

[@user-ic6ot6tt9d]

Hello Sir, This is a very informative video on s curve trajectory. I am using this to control the motion of a linear drive of a cartesian robot but I am having an issue with the MATLAB script when I try to generate the same trajectory. If it is possible for you can you share the script code, I would be very thankful. Also, is it possible to generate this specific type of trajectory in Simulink. Thanks.

[@engineer6194]

Can you tell me the source book you used?

[@anghelblas]

You can read this book: Trajectory Planning for Automatic Machines and Robots

[@kevinkipkorir3132]

Hello sir, I am having trouble writing code for the seven segment, could you please send the code so I can counter check.

[@kevinkipkorir3132]

solved it, It was an issue with BODMAS

[@srinivasulu.vardhineni]

@@kevinkipkorir3132 Can you please share code for seven segment profile?

[@kevinkipkorir3132]

I will do it as soon as I settle down

[@srinivasulu.vardhineni]

@@kevinkipkorir3132 I just typed. It is working. Thank you for reply. Are you a researcher?

[@kevinkipkorir3132]

Yes, the work we are doing is really writing software for a robotic arm we are working on.

[@rezah336]

at 22:58 the q-vector elements are in the wrong order

[@mehran1384]

Thanks. I will check it.

[@keeratiubolmart5207]

Hi, sir could i have your sheet please 😅

[@adnanshakoor2340]

corrected code %% Quintic Polynomial
clear all;
t0=0.5;
tf=1.5;
qt0=0;
qtf=20;
qdott0=0;
qdottf=0;
q2dott0=0;
q2dottf=0;
%%n=16;
%%IL=0.2;
%%IM=0.005;
%%Ieq=IM+IL/(n^2);
A=[1 t0 t0^2 t0^3 t0^4 t0^5;...
0 1 2*t0 3*t0^2 4*t0^3 5*t0^4;...
0 0 2 6*t0 12*t0^2 20*t0^3;...
1 tf tf^2 tf^3 tf^4 tf^5;...
0 1 2*tf 3*tf^2 4*tf^3 5*tf^4;...
0 0 2 6*tf 12*tf^2 20*tf^3];
RHS=[qt0;qdott0;q2dott0;qtf;qdottf;q2dottf];
coeffs=inv(A)*RHS;
t=linspace(t0,tf,200);
q=coeffs(6)*t.^5+coeffs(5)*t.^4+coeffs(4)*t.^3+...
coeffs(3)*t.^2+coeffs(2)*t+coeffs(1);
qdot=5*coeffs(6)*t.^4+4*coeffs(5)*t.^3+...
3*coeffs(4)*t.^2+2*coeffs(3)*t+coeffs(2);
q2dot=20*coeffs(6)*t.^3+12*coeffs(5)*t.^2+6*coeffs(4)*t+2*coeffs(3);
%%omega_max=max(abs(qdot))*30/pi;
%%T_max=Ieq*max(abs(q2dot));
%%fprintf('using quintic polynomial, the maximum angular velocity is %4.2f rpms
',omega_max);
%%fprintf('using quintic polynomial, the maximum torque is %4.2f N-ms
',T_max);
figure(2);
subplot(3,1,1);
plot(t,q);
xlabel('t(sec)');
ylabel('q(t) (rad)');
title('Quintic Polynomial');
subplot(3,1,2);
plot(t,qdot);
xlabel('t (sec)');
ylabel('dq/dt(t) (rad/s)');
subplot(3,1,3);
plot(t,q2dot);
xlabel('t (sec)');
ylabel('d^{2}q/dt^{2}(t) (rad/s^{2})');