Robotics: Science and Systems XVII
Jerk-limited Real-time Trajectory Generation with Arbitrary Target States
Lars Berscheid, Torsten KroegerAbstract:
We present Ruckig; an algorithm for Online Trajectory Generation (OTG) respecting third-order constraints and complete kinematic target states. Given any initial state of a system with multiple Degrees of Freedom (DoFs); Ruckig calculates a time-optimal trajectory to an arbitrary target state defined by its position; velocity; and acceleration limited by velocity; acceleration; and jerk constraints. The proposed algorithm and implementation allows three contributions: (1) To the best of our knowledge; we derive the first time-optimal OTG algorithm for arbitrary; multi-dimensional target states; in particular including non-zero target acceleration. (2) This is the first open-source prototype of time-optimal OTG with limited jerk and complete time synchronization for multiple DoFs. (3) Ruckig allows for directional velocity and acceleration limits; enabling robots to better use their dynamical resources. We evaluate the robustness and real-time capability of the proposed algorithm on a test suite with over 1 000 000 000 random trajectories as well as in real-world applications.
Bibtex:
@INPROCEEDINGS{Berscheid-RSS-21, AUTHOR = {Lars Berscheid AND Torsten Kroeger}, TITLE = {{Jerk-limited Real-time Trajectory Generation with Arbitrary Target States}}, BOOKTITLE = {Proceedings of Robotics: Science and Systems}, YEAR = {2021}, ADDRESS = {Virtual}, MONTH = {July}, DOI = {10.15607/RSS.2021.XVII.015} }