Reconstruction of the admissible joint-references for the N-trailer kinematics: the source Matlab files.

This dataset consists of the source Matlab files (the m-files) which implement the computational Newton-like algorithm solving the reconstruction problem for the joint-references of the non-Standard and Generalized N-Trailers upon a prescribed reference path of the last trailer. A user can examine the effectiveness and properties of the algorithm by selecting one of the seven possible 3-trailer structures with various types of hitching. The default reference path prescribed for the last trailer implemented in the code is a parametrized Lissajous-like closed curve defined on the normalized interval [0,1] of the parametrizing variable. Forward as well as backward motion strategy can be selected. The program computes a set of parameters (the weights) for a Fourier basis with up to 2000 harmonics chosen to approximate an evolution of the reference joint angles. The results being obtained during the computations are plotted on-the-fly, and the approximation accuracy is provided by the values of quality factors.

本数据集包含了实现计算牛顿类算法的源 Matlab 文件（即 m 文件），该算法用于解决非标准及广义 N 拖车在指定末拖车参考路径上的重建问题。用户可通过选择七种可能的 3 拖车结构之一，并采用不同类型的牵引方式，来检验算法的有效性和性质。代码中默认实现的末拖车参考路径是一个参数化的李萨茹曲线，该曲线定义在参数化变量标准化区间 [0,1] 上。用户可选择正向或反向运动策略。程序计算一组参数（权重），用于傅里叶基函数，其中选定了高达 2000 阶谐波以逼近参考关节角度的变化。计算过程中获得的结果实时绘制，并通过质量因子值提供逼近精度。