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

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

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17 Nov 2008 (Updated )

NXT SCARA Model-Based Design based on Embedded Coder Robot NXT.

cat_cp_ptp(cp, ptp)
function cp_ptp = cat_cp_ptp(cp, ptp)
% Concatenate CP and PTP trajectory
%
% [Inputs]
%	cp			: CP trajectory
%	ptp			: PTP trajectory
% [Outputs] 
%	cp_ptp		: CP + PTP trajectory


num_cp = length(cp);
num_ptp = length(ptp);
cp_ptp = cell(1, num_cp + num_ptp);
for n = 1:num_cp
	cp_ptp{2 * n} = cp{n};
	cp_ptp{2 * n - 1} = ptp{n};	
end
cp_ptp{end} = ptp{end};

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