Non linearly spaced points using a time vector in MATLAB
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I have a vector which contains a trajectory for an end effector of a robot. During each sample the next point in the trajectory is sent to the device. In other words, the trajectory vector only contains the points in 3D-space which are spaced linearly using linspace().
I, on the other hand, don't want them to be spaced linearly. I want to create a time vector which defines the spacing of the points. So if I would use a non linear curve (S-Curve for example) the beginning and the end of the trajectory should be spaced closer to each other whereas the points in between have a larger spacing. This should result in slower and smoother movements of the robot at the beginning and the end of the trajectory.
Is there a function in MATLAB similar to linspace which accepts, for example, a time vector and based on that generates a vector of non-linearly spaced points?
If not, how would I go about creating something like this?
2 Comments
Pham Dang
on 11 Aug 2016
Hi, if I well understand, you send the target position at equally spaced instants to your system. This can not be changed and you want to change its speed by computing the proper unequally spaced positions. Am I wrong ?
If I'm right, did you consider integrating the target speed vector with cumsum ?
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