EMA3100A

Target Motion Simulator

Path Modeler
 EMA3100A Path Modeler

EMA3100A Target Motion Simulator, Path Modeler is the tool for

modeling the paths by using one of the methods for path modeling

Currently there are five methods for selection

By Known Functions and SPToM (KF-SPToM)

By TOP and SPToM (TOP-SPToM)
By SOP and SPToM (SOP-SPToM)
By V Vectors and SPToM (V-SPToM)
By A Vectors and SPToM (A-SPToM)

SPToM stands for Start Point plus Time of Motion

TOP and SOP stand for Third Order & Second order Polynomials
V and A Vectors stand for Velocity and Acceleration Vectors
 EMA3100A Path Modeler

Clicking on Path Modeler menu item in Tools menu brings the

dialog for type selection, In this example we have chosen 3D
Cartesian Coordinates, when Configure button is pressed the
Motion Modeler dialog shows up
 EMA3100A Path Modeler

The Motion Modeler dialog contains target name and sampling time
entry boxes plus method selection buttons, we go through all
methods starting with KF-SPToM meaning Path Modeling by Known
Functions and Start Point plus Time of Motion
 EMA3100A Path Modeler

In Path Modeling by Known Functions and Start Point plus Time of

Motion,(KF-SPToM) three attributes for the path is entered which
are initial position or start point, Time of Motion and selected
known function, upon entry of those and pressing of Generate
button the path is formed and can be plotted by pressing Preview
button as seen in next two slides
EMA3100A Path Modeler
EMA3100A Path Modeler
 EMA3100A Path Modeler

The second method is TOP-SPToM meaning Path Modeling by Third Order

Polynomials and Start Point plus Time of Motion

In Path Modeling by Third Order

Polynomials and Start Point plus Time
of Motion,(TOP-SPToM) three attributes
for the path is entered which are initial
position or start point, Time of Motion
and coefficients of the third order
polynomial for x, y and z components of
the motion, as seen in next two slides.
This method is more suitable for time
varying acceleration segments of the
trajectory.
EMA3100A Path Modeler
EMA3100A Path Modeler
 EMA3100A Path Modeler

The third method is SOP-SPToM meaning Path Modeling by Second Order

Polynomials and Start Point plus Time of Motion

In Path Modeling by Second Order

Polynomials and Start Point plus Time
of Motion,(SOP-SPToM) three attributes
for the path is entered which are initial
position or start point, Time of Motion
and coefficients of the second order
polynomial for x, y and z components of
the motion, as seen in next two slides.
This method is more suitable for
constant acceleration segments of the
trajectory.
EMA3100A Path Modeler
EMA3100A Path Modeler
 EMA3100A Path Modeler

The fourth method is V-SPToM meaning Path Modeling by Velocity Vector

and Start Point plus Time of Motion

In Path Modeling by Velocity Vector and

Start Point plus Time of Motion,(V-
SPToM) three attributes for the path is
entered which are initial position or
start point, Time of Motion and velocity
vectors for x, y and z components of the
motion, as seen in next two slides. This
method is more suitable for constant
velocity segments of the trajectory, for
time varying velocity second order
polynomial method is more suitable.
EMA3100A Path Modeler
EMA3100A Path Modeler
 EMA3100A Path Modeler

The fifth method is A-SPToM meaning Path Modeling by Acceleration

Vector and Start Point plus Time of Motion

In Path Modeling by Acceeration Vector

and Start Point plus Time of Motion,(A-
SPToM) four attributes for the path is
entered which are initial position or
start point, Time of Motion and initial
velocity vectors for x, y and z
components of the motion and
acceleration vectors for x, y and z
components of the motion , as seen in
next two slides. This method is more
suitable for constant acceleration
segments of the trajectory, for time
varying acceleration third order
polynomial method is more suitable.
EMA3100A Path Modeler
EMA3100A Path Modeler
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