ruckig
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pantor
Motion Generation for Robots and Machines. Real-time. Jerk-constrained. Time-optimal.
Dear @pantor, we committed a new version https://github.com/Fubini2/ruckig/network to our fork including some numerical improvements we have been working on in our use case, see https://github.com/pantor/ruckig/issues/72 and https://github.com/pantor/ruckig/issues/71. These improvements...
Hello @pantor , ruckig fails to compute a trajectory from these parameters: ``` const double cycle_time = .004; ruckig::Ruckig ruckig(cycle_time); ruckig::InputParameter inp; ruckig::Trajectory traj; inp.control_interface = ruckig::ControlInterface::Position; inp.synchronization = ruckig::Synchronization::Phase;...
Hi, since the showed commit below, the output values are not konstant if ruckig has finished the trajectory. (Test on PLC) "use integrated instead target values after traj" They are...
Hi @pantor, Thanks for the great work on Ruckig :+1: I'm running into an issue where Ruckig often throws an `ErrorExecutionTimeCalculation` in a mostly reproducable scenario (decelerating one joint while...
Hi pantor. Kudos for ruckig. At the moment i implement your source code in c++ runtime environment twincat (17c++) First test cases seems to run smooth and nice. I'm impressed...
Hi there, It would be really cool to see rust bindings for this project. Would such a thing be possible?
Dear @pantor , I got ```ErrorTrajectoryDuration``` err with the following Code. With the debug mode, I found that result of brake phase calculattion was so weird. Maybe it was a...
Dear Pantor, another feature that would be useful in the environment of real-time control of laser scanners is the deliberate violation of the permissible range at the end. This is...
I am using ruckig to control our robot. I want to be sure that the interpolation result is a straight line in joint space and I thought that this is...
Regarding #17 and #44, we should introduce an option to interpret the kinematic constraints as "soft" ones. Then, we don't want to get within the kinematic constraints as fast as...
