NXT SCARA (Two-Link Planar Robot Arm) Controller Design: cp_circle(ts) - File Exchange

Code covered by the BSD License

Highlights from
NXT SCARA (Two-Link Planar Robot Arm) Controller Design

cal_cp_ptp(cp_name, ts, l1, l... CP + PTP Trajectory Calculation
cal_eta(eta_s, eta_f, vec_max... Basic Trajectory Calculation using 5-1-5 Polynomial
cal_ptp(cp, pos_s, pos_f, ts,... PTP Trajectory Calculation
cal_time_data(cp_ptp, ts, tim... Finish Time and Pen Time Table Calculation
cat_cp_ptp(cp, ptp) Concatenate CP and PTP trajectory
chk_limit(thetas, thetas_max,... Theta and Omega Limitation Check
cp_circle(ts) CP Trajectory (Circle)
cp_ml_logo CP Trajectory (MATLAB Logo)
cp_smile(ts) CP Trajectory (Smile Mark)
cp_spiral(ts) CP Trajectory (Spiral)
theta2xy(theta1, theta2, l1, ... Angle to Position Conversion for 2 link SCARA robot
xy2theta(x, y, l1, l2) Position to Angle Conversion for 2 link SCARA robot
param_controller.m
param_nxtscara.m
param_plant.m
param_ref.m
param_sim.m
post_sdo_codegen.m
pre_sdo_codegen.m
nxtscara
nxtscara_controller
nxtscara_vr
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from NXT SCARA (Two-Link Planar Robot Arm) Controller Design by Yorihisa Yamamoto
NXT SCARA Model-Based Design based on Embedded Coder Robot NXT.

cp_circle(ts)

function cp = cp_circle(ts)
% CP Trajectory (Circle)

% acceleration/deceleration time
dt = ts * 4;

% CP trajectory
radius = 0.11 / 2;
center = [0.254 - radius; 0];
omega = 2 * pi / (ts * 800);
phi = cal_eta(0, 2 * pi, omega, dt, ts);
crcl = repmat(center, 1, length(phi)) + radius * [cos(phi); sin(phi)];
cp = {crcl};

Highlights from NXT SCARA (Two-Link Planar Robot Arm) Controller Design

Highlights from
NXT SCARA (Two-Link Planar Robot Arm) Controller Design