I have a serial robotic arm with 3 rotational joints, for
following a specified trajectory, i need to change the values of
the joint angles several times and several steps. The values of
joints are obtained by an engine designed in matlab. for instance i
You could use the STEP function inside CosmosMotion.
STEP defines a value changing linearly in a finite range of
Before and after the range, the value is constant.
STEP does a cubic fitting of this 3-segment law (STEP5 is
available for a quintic law).
You must drive each axis independently.
To combine different laws (and different steps) in time, you
can simply ADD expressions each other.