Dear friends,
I hope I can get solution for this issue with you
I want the robot to perform a sinusoidal trajectory where the series of points positions and velocities (and accelerations if possible )are defined by the following equations with sampling time (t) for a particular period of time (T):
Oc(t)= sin(2I_t/T)
velocity(t)=(2pi/T)cos(2pi*t/T)
acceleration(t) = - (4 pi^2/T^2) sin (2pit/T)
I understand that the robot movements for its end-effector or joints is performed through motion commands such as MoveL, MoveJ, etc. So how to convert the given trajectory into a set of robot motion commands so that the trajectory is smooth with time.
Would you kindly help me to know how to get this done.
Thanking you in advance.