Motion Generation for Robots and Machines
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.
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!
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
to reach the target state simultaneously / in straight-line motions
with near time-optimal trajectories
to restrict the workspace of the system