Reflexxes Motion Libraries  Manual and Documentation (Type II, Version 1.2.6)
Behavior after the Final State of Motion is Reached

In order to determine the behavior of the trajectory generator after the final state of motion is reached, the flag RMLPositionFlags::BehaviorAfterFinalStateOfMotionIsReached can be used. This flag can contain two different values:

  1. RMLPositionFlags::KEEP_TARGET_VELOCITY (default)

The following example has been generated with the Type IV Reflexxes Motion Library and shows the difference between both behaviors.



The left diagram shows the behavior if RMLPositionFlags::BehaviorAfterFinalStateOfMotionIsReached is set to RMLPositionFlags::RECOMPUTE_TRAJECTORY, and the right diagram shows the case of RMLPositionFlags::RECOMPUTE_TRAJECTORY. In the first case, the desired target velocity is kept until the input values change, and the method ReflexxesAPI::RMLPosition() keeps returning ReflexxesAPI::RML_FINAL_STATE_REACHED. In the second case, ReflexxesAPI::RMLPosition() will return ReflexxesAPI::RML_FINAL_STATE_REACHED only once (in this example in the control cycle at $ t\ =\ 3075\,ms$), and in the subsequent control cycle, a new trajectory to reach the same state of motion again is computed, which will then be reached in the control cycle at $ t\ =\ 6190\,ms$ (and again at $ t\ =\ 9305\,ms, 12420\,ms, 15535\,ms$, etc.). This behavior repeats until the input values are changed.

The position diagram ( $ \vec{P}_i(t)\ =\ \left(\,\!_1p_i(t),\,_2p_i(t)\right) $) also contains the positional extreme values depicted in darker colors (cf. RMLFlags::EnableTheCalculationOfTheExtremumMotionStates).

In this example, a time-synchronized trajectory was used. At page About the Flag RMLFlags::PHASE_SYNCHRONIZATION_IF_POSSIBLE, the same example with a phase-synchronized motion is shown.

The examples above have been generated with the Type IV Reflexxes Motion Library, which takes into account the values of

User documentation of the Reflexxes Motion Libraries by Reflexxes GmbH (Company Information, Impressum). This document was generated with Doxygen on Mon Jul 7 2014 13:21:09. Copyright 2010–2014.