How can I record trajectories from RobotStudio to use in MATLAB?

RobotStudio
1

Hi, I would like to record the details of a trajectory developed in RobotStudio i.e. the time vector t, the joint angles q, joint speed qd and joint acceleration qdd at the sample times. Also if possible the joint torques. So for example I might obtain a table like so;

t q qd qdd Torque

Could someone tell me if this is possible, and if so how?

Thanks, Joe.

2

It didn’t allow me to post anymore, so just to be clear, I am trying to obtain a table like so for the whole trajectory:

t q qd qd Torque

0 0 0 0 0

0.5 1.5 1.3 1.2 5

Etc..

Thanks.