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pantor / ruckig

Motion Generation for Robots and Machines. Real-time. Jerk-constrained. Time-optimal.
https://ruckig.com
MIT License
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Is position overshoot possible? #22

Closed isherman closed 3 years ago

isherman commented 3 years ago

Is it possible that the trajectory returned by Ruckig will overshoot the target position P of a target state <p=P, v=0, a=0>?

My understanding from this Reflexxes paper, e.g. section IV.C, is that it is possible, at least in their approach.

If you have a moment to clarify my conceptual understanding, I much appreciate it!

pantor commented 3 years ago

Overshooting is neither possible with Reflexxes nor with Ruckig. Section IV.C refers to a limiting position interval, which is then however ignored in both Reflexxes and Ruckig. Ruckig explicitly checks for the correctness of its result (within the stated numerical limits), so I'm doubly sure that Ruckig does not overshoot.

isherman commented 3 years ago

OK, thank you for the clarification!