hungpham2511/toppra

robotic motion planning library

What it solves

It solves the problem of finding the fastest possible way for a robot to move along a predefined geometric path while respecting physical limits, such as joint velocity and acceleration constraints.

How it works

The library takes a geometric path and a set of kinematic and dynamic constraints as input. It then computes a time-optimal path parameterization, providing the speed profile (s_dot) that allows the robot to complete the path in the minimum amount of time without violating any of the specified constraints.

Who it’s for

Robotics engineers and researchers who need to generate high-performance trajectories for robots subject to physical constraints.

Highlights

  • Computes time-optimal path parameterization for robots.
  • Supports kinematic and dynamic constraints, including joint velocity and acceleration.
  • Supports tool Cartesian velocity constraints.
  • Available in C++ with Python bindings.

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