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Generate Joint Trajectory VI

LabVIEW 2013 Robotics Module Help

Edition Date: June 2013

Part Number: 372983D-01

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Owning Palette: Kinematics VIs

Requires: Robotics Module

Generates joint angles, velocities, and accelerations along a smooth trajectory between two points in joint space. Wire data to the intermediate points input to determine the polymorphic instance to use or manually select the instance.

.m file: jtraj

Details  Examples

Use the pull-down menu to select an instance of this VI.

Generate Joint Trajectory (Int)

Use this instance to return a trajectory of evenly spaced points.

intermediate points specifies the number of evenly spaced points at which to interpolate values. LabVIEW returns an error if intermediate points is less than 2.
start joint positions specifies the joint angles, in radians, of the pose with which to begin the trajectory.
end joint positions specifies the joint angles, in radians, of the pose at the final point in the trajectory.
error in describes error conditions that occur before this node runs. This input provides standard error in functionality.
start joint velocities specifies the joint velocities at the beginning of the trajectory. The default is 0.
end joint velocities specifies the joint velocities at the end of the trajectory. The default is 0.
joint position trajectory contains the calculated joint angles of the robotic arm pose where each row represents a pose at a particular time and each column represents a particular joint.
joint velocity trajectory contains the calculated velocity of each joint in joint position trajectory.
joint acceleration trajectory specifies the acceleration of each joint in joint position trajectory.
error out contains error information. This output provides standard error out functionality.

Generate Joint Trajectory (Array)

Use this instance to return a trajectory with points spaced at the intervals you specify.

intermediate points specifies the times at which to interpolate values along the joint trajectory.
start joint positions specifies the joint angles, in radians, of the pose with which to begin the trajectory.
end joint positions specifies the joint angles, in radians, of the pose at the final point in the trajectory.
error in describes error conditions that occur before this node runs. This input provides standard error in functionality.
start joint velocities specifies the joint velocities at the beginning of the trajectory. The default is 0.
end joint velocities specifies the joint velocities at the end of the trajectory. The default is 0.
joint position trajectory contains the calculated joint angles of the robotic arm pose where each row represents a pose at a particular time and each column represents a particular joint.
joint velocity trajectory contains the calculated velocity of each joint in joint position trajectory.
joint acceleration trajectory specifies the acceleration of each joint in joint position trajectory.
error out contains error information. This output provides standard error out functionality.

Generate Joint Trajectory Details

The Generate Joint Trajectory (Int) instance of this VI generates the trajectory from times 0 to 1 with a step of 1 / (intermediate points – 1), so the number of rows of joint coordinates in joint position trajectory is equal to intermediate points.

The Generate Joint Trajectory (Array) instance of this VI scales the output trajectories so that start joint positions and start joint velocities occur at the first element of intermediate points, and end joint positions and end joint velocities occur at the final element of intermediate points.

Examples

Refer to the following VIs for examples of using the Generate Joint Trajectory VI:

  • labview\examples\robotics\Simulator\SCARA Arm\SCARA Arm.lvproj
  • labview\examples\robotics\Simulator\Puma560\Puma560 Simulator.lvproj

 

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