Motion Controller Library

The Motion Controller library enables robots to perform dynamic movements by producing sequential motor positions over time. These positions are determined by a velocity profile, representing changes in velocity controlled by input parameters such as:

• Target position
• Target velocity
• Target acceleration
• Target deceleration
• Target jerk

Features

• Generates smooth motion trajectories for robotic applications.
• Supports S-curve and trapezoidal velocity profiles.
• Provides modular design for easy integration and testing.

Process Overview

Step 1: Copy Required Files

Copy the following files to your target folder:

• CommandInfo.cpp/.h
• MotionController.cpp/.h
• ScurveProfile.cpp/.h
• TrajectoryProfile.cpp/.h
• TrapezoidalProfile.cpp/.h

Step 2: Set Up Parameters

Set up necessary parameters by following the example procedure in TestSuite.cpp (e.g., testCase_ScurveProfile_101).

Example Code:

MotionController mc(dof);
mc.setScurveProfile(execProf1);
mc.setCurrentPose(curPose);
mc.setVelocityProfParam(targetPose, targetVelsRad, targetAccsRad, targetJerksRad);