20 lines
560 B
Mathematica
20 lines
560 B
Mathematica
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function s = QuinticTimeScaling(Tf, t)
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% *** CHAPTER 9: TRAJECTORY GENERATION ***
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% Takes Tf: Total time of the motion in seconds from rest to rest,
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% t: The current time t satisfying 0 < t < Tf.
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% Returns s: The path parameter s(t) corresponding to a fifth-order
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% polynomial motion that begins and ends at zero velocity and
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% zero acceleration.
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% Example Input:
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%
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% clear; clc;
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% Tf = 2;
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% t = 0.6;
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% s = QuinticTimeScaling(Tf,t)
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%
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% Output:
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% s =
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% 0.1631
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s = 10 * (t / Tf) ^ 3 - 15 * (t / Tf) ^ 4 + 6 * (t / Tf) ^ 5;
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end
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