Problem with with mstraj function in Peter Corke's Robotic Toolbox

Hi all, I've been trying to do trajectory planning with a 3 DOF robot arm, RRR, using the mstraj function in Peter Corke's Robotic Toolbox to calculate a trajectory between two points with one point in between. So far it has worked wonderfully for certain values for the time taken from one to another, however with values below 4 the coordinates generated cause the robot arm to jump from one point and back again. I've just started using MATLAB for about a month ago so I may not be aware of certain mistakes, so I hope that you can help diagnose and determine whether it's a bug or not. The full code is attached below.

Thanks in advance!

traj1 = mstraj(via1, [], [4 4], q1, 0.1, 3); %the value [4 4] for time taken work fine
traj2 = mstraj(via2, [], [4 4], q3, 0.1, 3);

traj1 = mstraj(via1, [], [3 3], q1, 0.1, 3); %the value [3 3] however gives coordinates which cause the robot arm to jump back from...
traj2 = mstraj(via2, [], [3 3], q3, 0.1, 3); % point to point

[Dominika Krason]

Hi, do you by any chance have mtraj function somewhere or know where to download it? Ive been trying to use Peter Corke's pure pursuit simulink model but it seems to be missing even tho I have downloaded full toolbox. :/

Answer 1

[Ho Jin Ping]

Nvm! I've figured out why, my brain didn't realise that the last parameter for mstraj was the acceleration time which I've put to be equal to the journey time between via points. My bad!!