This task is a slightly more complex version of the position control demo. In the original position control demo, you can only specify the duration of the trajectory, that is how long the robot arm takes to reach the target position. This version of the position controller demo allows you to specify the peak velocity of the trajectory or the duration. This is useful if you would like to maintain a constant movement profile for reaches of differing distances.
The trial protocol table has two new columns: “Trajectory Velocity” for the desired peak velocity (cm/s), and “Duration Velocity Select” which is used to select between the duration and the velocity when moving the robot.
Last tested in Dexterit-E 3.10 and MATLAB 2015a.