Motion Generation for Robots and Machines

Real-time Calculation

Ruckig is a software library that generates trajectories on-the-fly, allowing robots and machines to react instantaneously to sensor input. Trajectories may start from any state of motion and consider the dynamical capabilites of the robot. Ruckig is the first library able to calculate motions from an arbitrary initial state to an arbitrary target state.

Faster Motions

Besides the target state, the planned motion can be specified by (optional) intermediate waypoints. For state-to-state motions, Ruckig guarantees a time-optimal solution. With intermediate waypoints, Ruckig calculates the path and its time parametrization jointly, resulting in significantly faster trajectories compared to traditional methods.

Key Features

Jerk-constrained Ruckig calculates trajectories with constrained velocity, acceleration, and jerk.

Real-time Ruckig outputs a valid trajectory within cycle times as low as 250µs.

Time-optimal For many use cases, Ruckig guarantees a time-optimal solution.

used by


Current State of Motion
Optional Intermediate Waypoints
Target State of Motion
Motion Constraints
in less than 1ms
New State of Motion

Ruckig calculates a trajectory to a target state (with position, velocity, and acceleration) starting from any initial state limited by velocity, acceleration, and jerk constraints. This calculation is done within the real-time control loop of the robot or machine, enabling the robot to instantaneously react to sensor input and replan its motion accordingly. In particular, Ruckig allows for intermediate waypoints defined by positions to calculate complex trajectories on-the-fly, even surpassing offline approaches for motion planning in terms of trajectory duration. Ruckig is the first trajectory generator for arbitrary target states and even supports directional velocity and acceleration limits, minimum trajectory durations, and many more features!


Community Version


Pro Version

Arbitrary initial and target states

given by position, velocity, and acceleration

Real-time capability

for control cycles of less than 1ms


on top of velocity and acceleration constraints

Velocity control interface

easily switch to velocity control, e.g. to safely stop the robot

Time synchronization of multiple axis

to reach the target state simultaneously / in straight-line motions

Intermediate waypoints

with near time-optimal trajectories


to restrict the workspace of the system


Software license

Open Source (MIT)
Free Trial Available


The development of the Ruckig Community Version was started by Lars Berscheid at the Karlsruhe Insitute of Technology (KIT). Details were published in the paper "Jerk-limited real-time trajectory generation for arbitrary target states" at the Robotics: Science and Systems (RSS), 2021 conference. We now offer novel features, consulting, and long-term support for professional use-cases with the Ruckig Pro Version.