zhaodong1986 / stopp

Safe Time Optimal Path Parameterization (STOPP) for serial robots

STOPP

Safe Time Optimal Path Parameterization (STOPP) for serial robots, this produces a jerk limited, joint synchronized trajectories for smooth and safe robot motion for a given predefined path.

Dependencies

numpy >= 1.12.0

Installation

$ pip install stopp

Sample Usage

import stopp
import numpy as np
from math import pi

robot_path = np.array([np.linspace(0, 150, 30), np.linspace(50, 100, 30)])*(pi/180) # Convert to rad
my_robot = stopp.Robot(n_joints=robot_path.shape[0], j_max=800, a_max=50, v_max=6)
trajectory = my_robot.TimeParameterizePath(robot_path, interp_time_step=0.004)

first_joint_trajectory = trajectory[0]
second_joint_trajectory = trajectory[1]

first_joint_time = first_joint_trajectory.t
firs_joint_pos = first_joint_trajectory.pos
first_joint_vel = first_joint_trajectory.vel
first_joint_acc = first_joint_trajectory.acc

Sample Result