TOPP-RA

Documentation and tutorials are available at (https://hungpham2511.github.io/toppra/).

TOPP-RA is a library for time-parameterizing robot trajectories subject to kinematic and dynamic constraints. In general, given the inputs:

1. a geometric path q(s), s in [0, s_end] ;
2. a list of constraints on joint velocity, joint accelerations, tool Cartesian velocity, et cetera.

TOPP-RA returns the time-parameterization: s_dot (s), from which a trajectory q(t) that satisfies the given constraints can be computed.

Citing TOPP-RA

If you use this library for your research, we encourage you to

1. reference the accompanying paper «A new approach to Time-Optimal Path Parameterization based on Reachability Analysis», IEEE Transactions on Robotics, vol. 34(3), pp. 645–659, 2018.
2. put a star on this repository.

Bug reports and supports

Please report any issues, questions via Github issues tracker.