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.