An optimization framework for servo trajectory generation.
This repository contains the companion code for the following paper:
Clemen, L. and Rupp, C.J. "Single- and Multi-Degree-of-Freedom Servo Trajectory Generation: An Optimization Framework, Implementation, and Examples." Proceedings of the 2023 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM). June 2023.
This code is free software and its use is completely at your own risk; it can be redistributed and/or modified under the terms of the BSD 3-Clause License.
Copyright (c) 2021, ATA Engineering, Inc.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
Create a conda environment with the necessary dependencies: conda env create -f pyomoenv.yml
Clone this repository and run the code from its directory.