Matlab 机器人工具箱 轨迹生成----jtraj ctraj

% [q,qd,qdd] = jtraj(q0,qf,m); %利用五次多项式规划轨迹
% tc = ctraj(T0,T1,n);         %利用匀加速匀减速规划轨迹

%机器人建模
L1 = Link('d',0,'a',0,'alpha',pi/2);
L2 = Link('d',0,'a',0.5,'alpha',0,'offset',pi/2);
L3 = Link('d',0,'a',0,'alpha',pi/2,'offset',pi/4);
L4 = Link('d',1,'a',0,'alpha',-pi/2);
L5 = Link('d',0,'a',0,'alpha',pi/2);
L6 = Link('d',1,'a',0,'alpha',0);
%机器人搭建与命名
robot = SerialLink([L1,L2,L3,L4,L5,L6]);
robot.name = '球形腕关节的拟人臂';
robot.manuf = 'qiangbaa';

%******************%
%      jtraj       %
%******************%
%轨迹规划参数设置
init_ang = [0 0 0 0 0 0];
targ_ang = [pi/4, -pi/3, pi/5, pi/2, -pi/4, pi/6];
step = 50;
%轨迹规划方法
[q,qd,qdd] &#