Event
An Analysis of Ruckig's Jerk-Limited Trajectory Generation
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A technical article analyzes Ruckig's method for jerk-limited online trajectory generation: it reduces the problem to time-optimal control of a triple-integrator chain, solves it using a seven-segment profile, selects per-axis timings during multi-axis synchronization, and provides a closed-form solution for braking when limits are exceeded. The article also reports tracking and target-jump replanning tests of a two-joint arm in MuJoCo, but does not provide verifiable quantitative results.
Report timeline
- 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.
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