NXT SCARA (Two-Link Planar Robot Arm) Controller Design: cp_spiral(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
View all files

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_spiral(ts)

function cp = cp_spiral(ts)
% CP Trajectory (Spiral)

% CP trajectory
radius = 0.11 / 2;
center = [0.14; 0.08];
gain = 2 * radius / (13 * pi);
omega_s = 2 * pi / (ts * 200);
omega_f = 2 * pi / (ts * 800);
phi_s = 0;
phi_f = 6 * pi;
t_f = 2 * (phi_f - phi_s) / (omega_s + omega_f);
t = 0:ts:t_f;
phi = omega_s * t + (omega_f - omega_s) * t.^2 / (2 * t_f);
sprl = repmat(center, 1, length(phi)) + [gain * phi .* cos(phi); gain * phi .* sin(phi)];
cp = {sprl};

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

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