Ruckig 0.6.5
Motion Generation for Robots and Machines
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In comparison to the Community Version, Ruckig Pro allows to generate more complex trajectories defined by intermediate waypoints. Therefore, Ruckig takes a list of positions as input and calculates a trajectory reaching them successively before moving to the target state. As this is a much harder problem than solving state-to-state motions (as the Community Version does), Ruckig Pro is not able to guarantee for a time-optimal trajectory. In fact, trajectory planning with intermediate waypoints is a non-convex problem and therefore NP-hard. However, Ruckig calculates much faster trajectories than other approaches for a wide range of trajectory types, primarily due to the joint calculation of the path and its time parametrization. On top, Ruckig is real-time capable and considers jerk-constraints.
In this regard, following information help to obtain robust and ideal optimization results:
Ruckig::filter_intermediate_positions
method) first. Fortunately, a straight line of dozens of waypoints is not a typical use-case seeking for near time-optimal trajectories. For a single DoF, Ruckig automatically filters waypoints without loss of generality.