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Ruckig

  • Software
  • Robot arms and industry
  • Library

A C++ library and Python module that generates jerk-limited, time-optimal motion trajectories on the fly for robots and machines, reacting to sensor input in real time.

Source on GitHub: github.com/pantor/ruckig (opens in a new tab). Facts read at commit 99751e6 (opens in a new tab).

Licenses

Code
MIT (opens in a new tab)

Read by Robotheca from LICENSE (opens in a new tab) (MIT) at commit 99751e6 (opens in a new tab), on 16 Oct 2026.

Commercial use
Yes

What it does

  • Computes a trajectory from any initial state to a target position, velocity and acceleration under velocity, acceleration and jerk limits.
  • For state-to-state motions it guarantees a time-optimal solution.
  • Supports intermediate waypoints, computing path and timing jointly for faster trajectories.
  • Offers position and velocity control interfaces, several synchronization modes and per-DoF settings.
  • Includes a tracking interface that follows arbitrary signals closely in a time-optimal way.
  • Community version uses a cloud API for intermediate waypoints; the Pro version is fully local and about twice as fast.

Written by Robotheca from the project's README (opens in a new tab) at commit 99751e6.

Getting started

Difficulty
Intermediate
Hardware it needs, as the project states it
No dependencies except for testing; builds with CMake (C++20).

Maintenance

Status
Active: a commit in the last 90 days
Newest commit
29 Sept 2026 on main
Latest release
v0.19.4 (15 Jul 2026)

Checked on GitHub on 16 Oct 2026.

Links

Robots on Robotheca that use it

No robot on Robotheca is linked to it yet. Links come from a robot's robot.yaml, from its dependency files read as text, or from Robotheca's editors.

Robotheca lists software as a reference: nothing is hosted or run here, and every fact links to where it was read.