- Real-time calculation times of below 1ms.
- Highly time-optimized trajectories. Oftentimes, Ruckig is able to find a time-optimal motion.
- Simple APIs for straight-forward integration into your projects.
used by
Motion Generation for Robots and Machines
Jerk-constrained. Ruckig calculates trajectories with constrained velocity, acceleration, and jerk.
Real-time. Ruckig integrates into cycle times as low as 250µs, and optimizes complex motions in 1ms.
Time-optimal. Ruckig guarantees a time-optimal solution for state-to-state motions. For all others, it improves world-leading planners by up to 10%.
used by
Features
The core Ruckig algorithm 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 it to instantaneously react to sensor input and replan its motion accordingly. Moreover, Ruckig allows for obstacle environments or intermediate waypoints 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 supports directional velocity and acceleration limits, minimum trajectory durations, and many more features!
Ruckig
Community Version
Ruckig
Pro Version
given by position, velocity, and acceleration
for control cycles of less than 1ms
on top of velocity and acceleration constraints
easily switch to velocity control, e.g. to safely stop the robot
reach the target state simultaneously / in straight-line motions
for time-optimized trajectories
numerical robustness for the most demanding applications
to restrict the workspace of the system
to closely follow a moving signal with kinematic constraints
About
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, integration, and long-term support for professional use-cases with the Ruckig Pro Version.