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A way to get trajectory planing out of robodk?

As the title says, if i were to have a target that goes to a to b via a point can i get that out as some equations for the trajectory path? I am wondering if i had to use the matlab API? I found it and cant seem to see how the matlab API would help. Just wondering if anyone knew about this.
You can use the inverse kinematics using SolveIK or InstructionListJoints to extract the joint path of a program.
(I'm moving this thread to the RoboDK API section)

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