TOPP-RA: Fast path-parameterization for robots

TOPP-RA is a library for computing path parameterizations of arbitrary geometric paths/trajectories for robots!

TOPP-RA can account for several types of constraints on robot dynamics:

  1. joint torque, velocity and acceleration bounds;
  2. robust joint torque, velocity and acceleration bounds;
  3. Cartesian acceleration bounds;
  4. contact stability for legged robots.
  5. Your constraint! See the tutorials to understand how to implement your own constraints and handle them with TOPP-RA.

You can use TOPP-RA to compute the time-optimal path parameterization – the fastest possible movement the robot can realize – or a path parameterization with a specified duration. See the tutorials for more details.

A last remark, TOPP-RA is efficient. For standard use cases, it should return a solution in 5ms-10ms.

Update (Feb, 2019) I have used TOPP-RA to plan critically fast motions for robots doing bin picking with suction cup. Here critically fast motions are those that are fastest possible given the limited suction power and object weight. See the video below for more detail!

If you find this interesting, feel free to check out the paper: «Critically fast pick-and-place with suction cups». This paper will be presented at ICRA 2019. Feel free to come over to our poster for a chat!

You can find on this page Installation instructions, Tutorials, some Notes and Module references.

Citing TOPP-RA!

If you find TOPP-RA useful and use it in 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.