為了避免這些碰撞，添加中間路徑點，以確保機器人繞過障礙物。

intermediatePose1 = trvec2tform([-.3 -.2 .6])*axang2tform([0 1 0 -pi/4]); % Out and around the sphere intermediatePose2 = trvec2tform([0.2,0.2,0.6])*axang2tform([1 0 0 pi]); % Come in from aboveintermediateConfig1 = ik("EndEffector_Link",intermediatePose1,weights,q(:,collidingIdx1)); intermediateConfig2 = ik("EndEffector_Link",intermediatePose2,weights,q(:,collidingIdx2));% Show the new intermediate poses ax = exampleHelperVisualizeCollisionEnvironment(worldCollisionArray); show(robot,intermediateConfig1,"Parent",ax,"PreservePlot",false); show(robot,intermediateConfig2,"Parent",ax);

然后生成一個新的軌跡

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[q,qd,qdd,t] = trapveltraj([homeConfiguration(robot),intermediateConfig1,startConfig,intermediateConfig2,endConfig],200,"EndTime",2);

驗證生成的新軌跡是無碰撞的

%Initialize outputs inCollision = false(length(q),1); % Check whether each pose is in collision for i = 1:length(q)inCollision(i) = checkCollision(robot,q(:,i),worldCollisionArray,"IgnoreSelfCollision","on"); end isTrajectoryInCollision = any(inCollision)

計算出的結(jié)果為：

isTrajectoryInCollision = logical0

可視化生成的軌跡：

% Plot the environment ax2 = exampleHelperVisualizeCollisionEnvironment(worldCollisionArray);% Visualize the robot in its home configuration show(robot,startConfig,"Parent",ax2);% Update the axis size axis equal% Loop through the other positions for i = 1:length(q)show(robot,q(:,i),"Parent",ax2,"PreservePlot",false);% Update the figure drawnow end

?畫出隨時間變化的關(guān)節(jié)位置：

figure plot(t,q) xlabel("Time") ylabel("Joint Position")

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總結(jié)

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