Ruckig

Motion Generation for Robots and Machines

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Motion Planning

Ruckig is a next-generation motion planning library for robotic applications. We're focusing on:
  1. Real-time calculation times of below 1ms.
  2. Highly time-optimized trajectories. Often, Ruckig is able to find a time-optimal motion.
  3. Simple APIs for straightforward integration into your projects.

Online Trajectory Generation

Ruckig generates trajectories on-the-fly, and therefore allows robots and machines to react instantaneously to sensor input. Ruckig's core algorithm is the first general s-curve trajectory generator, able to calculate time-optimal motions from any initial state to an arbitrary target state. This makes Ruckig a perfect fit for visual servoing, collision avoidance, or CNC machining.

Key Features

  • 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 on world-leading planners by up to 10%.

used by

Features

  • Current State of Motion
  • Target State of Motion
  • Motion Constraints
Ruckig
in less than 1ms
  • New State of Motion
  • Trajectory

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.

Looking to advance your robot motions?

We're happy to answer your questions and discuss how Ruckig can help you.

Contact Us

or write us an email at hello@ruckig.com