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Explaining Ruckig's jerk-limited time-optimal online trajectory generation

The article explains Ruckig's jerk-limited online trajectory generation, covering the seven-segment profile of the triple-integrator-chain time-optimal problem, the selection of synchronization instants across multiple axes, and the closed-form solution for braking when limits are exceeded. It also presents measured tracking and target-jump replanning results for a two-joint arm in MuJoCo.

Part of the event: An Analysis of Ruckig's Jerk-Limited Trajectory Generation

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