Main Content

Generate trajectory between two homogeneous transforms

**Library:**Robotics System Toolbox / Utilities

The Transform Trajectory block generates an interpolated trajectory
between two homogenous transformation matrices. The block outputs the transform at the times
given by the **Time** input, which can be a scalar or vector.

The trajectory is computed using quaternion spherical linear interpolation (SLERP) for the
rotation and linear interpolation for the translation. This method finds the shortest path
between positions and rotations of the transformation. Select the **Use custom time
scaling** check box to compute the trajectory using a custom time scaling. The
block uses linear time scaling by default.

The initial and final values are held constant outside the time period defined in
**Time interval**.