klimits 1.0.0

An action space representation for learning robot trajectories without exceeding limits on the position, velocity, acceleration and jerk of each robot joint

Learning Robot Trajectories subject to Kinematic Joint Constraints

The aim of this package is to enable learning of robot trajectories without without exceeding limits on the position, velocity, acceleration and jerk of each robot joint. Movements are generated by mapping the predictions of a neural network to safely executable joint accelerations.
This package provides the code to compute the range of safely executable joint accelerations.

Installation

The package can be installed by running

pip install klimits

Trajectory Generation

To generate a random trajectory with limited jerk, acceleration, velocity and position run

python -m klimits.test_trajectory_generation

Several parameters can be adjusted to modify the generated trajectory. Run

python -m klimits.test_trajectory_generation --help

for further details.

Further Reading

A preprint of the corresponding publication is available at arXiv.org.
Further information on the implementation can be found here.