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pantor / ruckig

Motion Generation for Robots and Machines. Real-time. Jerk-constrained. Time-optimal.
https://ruckig.com
MIT License
635 stars 155 forks source link

how i can use the lib in cartesian space. #150

Closed chinahuangyong closed 1 year ago

pantor commented 1 year ago

Ruckig can be used flexibly for any underlying space with any number of degrees of freedom. For generating motions in Cartesian space, you need to find a representation that then can be used as input for Ruckig. There exist quite a few representations, from Euler angles to axis-angle to quaternion representations, each with different pros and cons.

As a rule of thumb, we recommend an axis-angle representation for Cartesian poses. In particular it allows to find a fixed axis between a start and a goal pose, and then the actual motion can be parametrized by three translation DoF and a single rotational DoF (the angle). This is very easy to implement, however only works if the start and goal velocities are zero.

chinahuangyong commented 1 year ago

could you please give me some examples for reference?

pantor commented 1 year ago

You can have a look at the frankx repository.