The Interpolated Motion Planning (IMP) is a trajectory generation and execution library optimized for ETEL products using interpolation features on UltimET and AccurET controllers.
It provides a global solution for:
- trajectory generation applications demanding high performance with all kind of specifications;
- high trajectory precision, geometry fitting features and automatic transitions respecting different kinematic constraints (velocity, acceleration, jerk …) are some of the most important requirements;
- event management capabilities to execute specific actions at precise positions along the trajectory execution (using position based Fast Triggers feature).