Class a.trajbell

bell-shaped velocity trajectory

Tables

a.trajbell bell-shaped velocity trajectory

Methods

a.trajbell:new () constructor for bell-shaped velocity trajectory
a.trajbell:gen (jm, am, vm, p0, p1[, v0[, v1]]) generate for bell-shaped velocity trajectory
a.trajbell:pos (x) calculate position for bell-shaped velocity trajectory
a.trajbell:vel (x) calculate velocity for bell-shaped velocity trajectory
a.trajbell:acc (x) calculate acceleration for bell-shaped velocity trajectory
a.trajbell:jer (x) calculate jerk for bell-shaped velocity trajectory


Tables

a.trajbell
bell-shaped velocity trajectory

Fields:

  • t total duration
  • tv constant velocity phase
  • ta acceleration phase
  • td deceleration phase
  • taj time-interval in which the jerk is constant (j max or j min ) during the acceleration phase
  • tdj time-interval in which the jerk is constant (j max or j min ) during the deceleration phase
  • p0 initial position
  • p1 final position
  • v0 initial velocity
  • v1 final velocity
  • vm maximum velocity
  • jm maximum jerk
  • am maximum acceleration
  • dm maximum deceleration

Methods

a.trajbell:new ()
constructor for bell-shaped velocity trajectory

Returns:

    a.trajbell bell-shaped velocity trajectory userdata
a.trajbell:gen (jm, am, vm, p0, p1[, v0[, v1]])
generate for bell-shaped velocity trajectory

Parameters:

  • jm number defines the maximum jerk during system operation
  • am number defines the maximum acceleration during system operation
  • vm number defines the maximum velocity during system operation
  • p0 number defines the initial position
  • p1 number defines the final position
  • v0 number defines the initial velocity (optional)
  • v1 number defines the final velocity (optional)

Returns:

    number total duration
a.trajbell:pos (x)
calculate position for bell-shaped velocity trajectory

Parameters:

  • x number difference between current time and initial time

Returns:

    number position output
a.trajbell:vel (x)
calculate velocity for bell-shaped velocity trajectory

Parameters:

  • x number difference between current time and initial time

Returns:

    number velocity output
a.trajbell:acc (x)
calculate acceleration for bell-shaped velocity trajectory

Parameters:

  • x number difference between current time and initial time

Returns:

    number acceleration output
a.trajbell:jer (x)
calculate jerk for bell-shaped velocity trajectory

Parameters:

  • x number difference between current time and initial time

Returns:

    number jerk output
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