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)
2. RMLPositionFlags::RECOMPUTE_TRAJECTORY.

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 ), 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 (and again at , etc.). This behavior repeats until the input values are changed.

The position diagram ( ) 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.

Note:

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

• RMLPositionInputParameters::CurrentAccelerationVector (containing the the current acceleration vector and
• RMLPositionInputParameters::MaxJerkVector (containing the maximum jerk vector .