Fix Version/s: None
Sprint:TSSW Sprint - Jan 18 - Feb 1, TSSW Sprint - Feb 1 - Feb 15, TSSW Sprint - Feb 15 - Mar 1
Team:Telescope and Site
Review the latest trajectory document (TrajectoriesDoc.docx) and source code of TMA. The repository is:
The trajectory generation code does not use Simulink but only Matlab code.
The followings are the details from Alberto:
The trajectory generation itself does not need a plant model, since you can test that the generated trajectory meets the movement specifications with the generated data (position, speed, acceleration and jerk). A plant model of the axis does not change the trajectory generation, it just tells the trajectory generator which is the first point. So, the trajectory generator is independent from the axis, and the same trajectory data (starting point, end point, max speed, acceleration and jerk) will produce the same data for different axis.
Tekniker replied the questions in TeWei_210219.docx.
Te-Wei did a great job in his review, his notes have been forwarded to Tekniker for review and they have responded.
Document the review in: Review of the Document of Trajectory Algorithm (Updated 2).