RT Trajectory Smoothing Algorithim

A comprehensive toolchain for high-performance robotic motion planning, featuring a deterministic C++ S-curve library, a modern PySide6 HMI, and real-time visualization in CoppeliaSim.

Demo

Video.mp4

Real-time trajectory smoothing with S-curve motion profiles visualized in CoppeliaSim

Project Components

1. Core S-Curve Library (C++)

A high-performance library for real-time trajectory planning with 7-segment S-curve motion profiles.

• O(1) Deterministic Sampling: State evaluation in constant time, suitable for 1kHz+ control loops.
• Multi-Axis Synchronization: Coordinated motion across multiple degrees of freedom.
• Mid-Motion Replanning: Seamlessly update targets from any non-zero state.

2. Multi-Waypoint Bezier Planner

Extends Cartesian planning to support complex paths through up to 10 user-defined waypoints.

• Catmull-Rom Interpolation: Ensures C1 continuity (smooth velocity) through all points.
• Piecewise Cubic Splines: Generates optimal Cartesian paths with customizable arc heights.
• Real-Time IK Solver: Damped Least Squares IK for the UR5 robot arm.

3. Robotic HMI (PySide6)

A premium dark-themed dashboard for real-time monitoring and control.

• Interactive Previews: 4-panel projection (Main 3D + Top/Front/Side views).
• Adaptive UI: Responsive layouts using QSplitter and adaptive widgets.
• Live Simulation Bridge: Streams joint-space states via UDP to CoppeliaSim.

Installation

Prerequisites

• C++: CMake 3.14+, C++17 compiler.
• Python: PySide6, NumPy, Matplotlib.
• Robotics: CoppeliaSim (for simulation).
• Libraries: Eigen3, Robotics Library (RL) 0.7.0.

Building the C++ Backend

Important: You must build the project before running the GUI.

mkdir build && cd build
cmake ..
make -j$(nproc)

This compiles the S-curve library and test runners needed by the GUI.

Python Dependencies

pip install PySide6 numpy matplotlib
# For CoppeliaSim bridge integration:
pip install coppeliasim-zmqremoteapi-client

Quick Start

Note: Make sure you've built the project first (see Building section above).

Option 1: Integrated Bridge (Recommended)

1. Launch CoppeliaSim: Open the provided scene in coppeliasim scene/.
2. Launch the HMI:

   python3 gui.py

3. Enable Bridge: In the GUI, check "Enable Integrated Bridge" in the CoppeliaSim Bridge section.
4. Plan & Execute:
   • Use the Joint-Space tab for simple point-to-point motion.
   • Use the Cartesian Spline Planner tab to define a complex 3D path with multiple waypoints and execute it on the simulated UR5.

Option 2: Standalone Bridge

1. Launch CoppeliaSim: Open the provided scene in coppeliasim scene/.
2. Start the Sim Bridge (in a separate terminal):

   python3 rt_sim_runner.py

3. Launch the HMI:

   python3 gui.py

4. Plan & Execute: Use the GUI tabs as described above.

Project Structure

• src/: C++ S-Curve library source.
• tests/: Performance tests, IK solvers, and path runners.
• gui.py: Main PySide6 HMI application.
• rt_sim_runner.py: ZeroMQ/UDP bridge to CoppeliaSim.
• models/: Robot kinematics and simulation models.

Requirements

• C++17 compatible compiler
• CMake 3.14 or later
• GoogleTest (automatically fetched)

License

Distributed under the MIT License. See LICENSE for more information.