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pantor / ruckig

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

Soft Constraints #45

Open pantor opened 3 years ago

pantor commented 3 years ago

Regarding #17 and #44, we should introduce an option to interpret the kinematic constraints as "soft" ones. Then, we don't want to get within the kinematic constraints as fast as possible, but to avoid overshooting the limits.

This requires to disable the braking trajectory and to add the UDUD profiles in step 1. I'm not yet sure how to guarantee a solution in this case.

Danielxyz123 commented 1 year ago

Hi Pantor,

is this feature already implemented in the latest version? (jerk minimizing profiles..?)

thx for your great work!

pantor commented 1 year ago

No, the jerk minimizing profiles are independent of the soft constraints here. Thanks!

abernasconi90 commented 9 months ago

Hello Pantor, I am integrating your library in a project and I am facing the same behaviour of overshooting when changing max_velocity on the fly. I would ask if there are any update on this topic and if there are also some workaround at the moment? I tried to set the min_velocity parameter equal to zero which can avoid backward movement but I cannot set it to higher value (to decrease more the overshoot) since it may be in conflict with target_velocity. Any suggestion?