pantor/ruckig

Health v2 · maintenance only

Adoption not part of the score

1347 stars · 263 forks observed · 2026-08-28

What it is AI-extracted, prompt v1, taxonomy v1, 2026-08-30, confidence not recorded

Ruckig is a C++ (with Python bindings) motion generation library that calculates jerk-constrained, time-optimal trajectories on-the-fly for robots and machines. It computes trajectories from any initial state to a target waypoint within sub-millisecond real-time control loops, supporting intermediate waypoints and velocity, acceleration, and jerk limits.

Use cases

• generate time-optimal trajectories for a robot arm in a real-time control loop
• replan robot motion instantly in response to sensor input
• smooth jerk-limited motion for CNC machining
• online trajectory generation for visual servoing
• waypoint following with joint time parametrization
• collision avoidance motion replanning

When to choose

• you need sub-millisecond, real-time trajectory generation inside a control loop
• you require jerk, acceleration, and velocity constraints with time-optimal state-to-state motions
• you want a dependency-free C++ library with Python bindings for robotics or machine control

When to avoid

• you need full global motion planning with complex obstacle avoidance rather than local trajectory generation
• your project is not in C++ or Python and cannot bind to them
• you need a commercial-support-grade planner and prefer the Pro version features

Facets

library · maturity active

simulation math sdk robotics cpp python cross-platform windows embedded trajectory-generation motion-planning jerk-constrained time-optimal real-time-control robot-arm cnc optimal-control algorithms real-time automation linux macos

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