I am using ruckig for a project with a delta robot. Ruckig works great for planning the trajectory. However, I do not wish to set velocity, acceleration or jerk constraints for x, y, and z independently, but for the whole motion. I would like to set a v_max_global so that v_max_global = sqrt(v_x_max^2+v_y_max^2+v_z_max^2). Now I need to first calculate the direction of the movement, normalize it and multiply it by my constraints to get the correct maximum constraint for the combined motion. This method feels quite hacky and I imagine it only works for phase synchronization.
Dear pantor,
I am using ruckig for a project with a delta robot. Ruckig works great for planning the trajectory. However, I do not wish to set velocity, acceleration or jerk constraints for x, y, and z independently, but for the whole motion. I would like to set a v_max_global so that v_max_global = sqrt(v_x_max^2+v_y_max^2+v_z_max^2). Now I need to first calculate the direction of the movement, normalize it and multiply it by my constraints to get the correct maximum constraint for the combined motion. This method feels quite hacky and I imagine it only works for phase synchronization.