Non linearly spaced points using a time vector in MATLAB
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I have a vector which contains a trajectory for an end effector of a robot. During each sample the next point in the trajectory is sent to the device. In other words, the trajectory vector only contains the points in 3D-space which are spaced linearly using linspace().
I, on the other hand, don't want them to be spaced linearly. I want to create a time vector which defines the spacing of the points. So if I would use a non linear curve (S-Curve for example) the beginning and the end of the trajectory should be spaced closer to each other whereas the points in between have a larger spacing. This should result in slower and smoother movements of the robot at the beginning and the end of the trajectory.
Is there a function in MATLAB similar to linspace which accepts, for example, a time vector and based on that generates a vector of non-linearly spaced points?
If not, how would I go about creating something like this?