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hungpham2511 / toppra

robotic motion planning library
https://hungpham2511.github.io/toppra/index.html
MIT License
625 stars 170 forks source link

Can you give me some advice about how to implement this library in a real industrial robot #24

Closed huangjiqiang closed 5 years ago

huangjiqiang commented 5 years ago

Your library is very stable and efficient. So I want to apply this library to online trajectory planner in my robot lab. During the applying process, there is a problem that I don't know how to write the code about the real-time buffer. Computing the whole path is time-consuming. So Could you give me some advice about how to write a real-time buffer when applying this library?

hungpham2511 commented 5 years ago

Hi @huangjiqiang, thank you for using toppra.

Unfortunately, I can't provide any advice on the specific platform that you are using, as I am not sure how it works or what it is.

From my own experience in our lab with Denso robots, we basically compute a trajectory and send the waypoints sequentially at a fixed cycle time. The only computational cost is from the parametrization of the geometric paths, which generally should be a few milliseconds.

huangjiqiang commented 5 years ago

Computing a whole geometric path and then send waypoints to servo drivers in a fixed cycle time? Time-consuming is due to add jerk constraints to trajectory planner.

hungpham2511 commented 5 years ago

Toppra can't account for jerk constraints, so you must have done this computation elsewhere? In that case I won't be able to help.

In our lab we just send the reference positions directly w/out further processing.

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Computing a whole geometric path and then send waypoints to servo drivers in a fixed cycle time? Time-consuming is due to add jerk constraints to trajectory planner.

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hahazhky commented 5 years ago

@hungpham2511 I want to implement this algorithm in my real robot and need some help. in your real robot, is position only controlled?how about velocity and acceleration? Thanks

hungpham2511 commented 5 years ago

Hi @hahazhky,

In general toppra produces trajectories, which contain position, velocity and acceleration. There is no special requirements or procedures to execute toppra trajectories.

If you have been able to execute trajectories on your robots, then do the same thing for the trajectories computed with toppra.