Process

Trajectory generation

You might say: time parameterisation, motion profile

Trajectory generation adds time to a geometric path and produces positions, velocities, and accelerations within joint limits.

What it does
Turns a path into time-stamped setpoints that a controller can track.
Ask
Are velocity, acceleration, and any jerk limits respected after retiming?
Typical
MoveIt trajectory processing time-parameterizes paths using the robot's joint limits; jerk limits depend on the selected method and model.

What to look for

  1. Time-stamped positions, velocities and accelerations
  2. Joint-limit boundaries
  3. Controller setpoints

Sources

  1. MoveIt, Trajectory Processing, Time parameterizationMoveIt includes several trajectory processing algorithms that can work on these paths and generate trajectories that are properly time-parameterized accounting for the maximum velocity and acceleration limits imposed on individual joints.
  2. Kevin M. Lynch and Frank C. Park, Modern Robotics: Mechanics, Planning, and Control, Ch. 9During robot motion, the robot controller is provided with a steady stream of goal positions and velocities to track.

Use it on your project

teardown-apply: hold "Trajectory generation" (trajectory-generation) from the teardown at https://teardownatlas.com/robotics/ against my project

Paste it into a coding agent that has the teardown skills.

An AI agent wrote this map with the teardown skill. It can contain errors: check the sources before you rely on a part. About and legal