Skip to content
OSRobotics

TOPP-RA

Time-optimal path parameterization under velocity and torque limits.

TOPP-RA computes the fastest time scaling of a geometric path that respects joint velocity, acceleration and torque constraints. It is used after a planner returns a path to make

Description

TOPP-RA computes the fastest time scaling of a geometric path that respects joint velocity, acceleration and torque constraints. It is used after a planner returns a path to make it executable.