Good morning everyone, this is my first question so I apologize in advance for any kind of mistake.

Let me explain my problem: I need to generate a trajectory for a robotic arm from a set of waypoints. In Matlab I used the function bsplinepolytraj, but now I want to run the code in Python and I can't find an equivalent function. What I am looking for should be able to give me the same values in output, namely position, velocity and acceleration.

Can you help me with this?

CodePudding user response：

Have you tried looking into this DRAKE tool ? I doubt there is a hard equivalent to the matlab function but they seem to do something in the realm of what you need in Python.

https://drake.mit.edu/pydrake/pydrake.trajectories.html#

Otherwise, and if you know how the matlab function works, you can try scipy B-spline function to implement the matlab functionality.

https://docs.scipy.org/doc/scipy/reference/generated/scipy.interpolate.BSpline.html

If you do an exact matlab replica, don't hesitate to share it via github if you want. I'm pretty sure it will be greatly appreciated !