Phase 4: Advanced Motion Control - Complete Implementation
Implements professional-grade trajectory planning and execution capabilities
for industrial robotics applications. Adds velocity profiling, geometric
motion primitives, path blending, and coordinate frame transformations.
Features Added:
- Velocity profiling (trapezoidal and S-curve profiles)
- Geometric motion primitives (arc, circle, spiral)
- Path blending with cubic Hermite spline interpolation
- Coordinate transformations (BASE/WORLD/TOOL/WORK frames)
New API Methods (MotionAPI):
- generate_velocity_profile(trajectory, max_velocity, max_acceleration, profile)
- generate_arc(center, radius, start_angle, end_angle, steps, plane)
- generate_circle(center, radius, steps, plane)
- generate_spiral(center, start_radius, end_radius, pitch, revolutions, steps, plane, axis)
- blend_trajectories(traj1, traj2, blend_radius, blend_steps)
- transform_coordinates(pose, from_frame, to_frame, frame_offset)
Helper Functions:
- _calculate_distance() - Euclidean distance between waypoints
- _trapezoidal_profile() - Bang-bang velocity control
- _s_curve_profile() - Jerk-limited smooth profiles
- _find_blend_point() - Locate blend zone boundaries
- _cubic_blend() - Cubic Hermite spline interpolation
Examples Created (examples/advanced_motion/):
- 01_velocity_profiles.py (234 lines) - Trapezoidal vs S-curve profiling
- 02_geometric_primitives.py (225 lines) - Arc, circle, spiral patterns
- 03_path_blending.py (253 lines) - Smooth trajectory transitions
- 04_coordinate_transforms.py (284 lines) - Frame transformations
- 05_combined_motion.py (336 lines) - Complete production application
- README.md (584 lines) - Comprehensive documentation
Documentation:
- PHASE_4_SUMMARY.md - Detailed implementation documentation
- Updated ROADMAP.md to mark Phase 4 complete
- Comprehensive API documentation in examples/advanced_motion/README.md
Files Modified:
- src/RSIPI/motion_api.py (~550 lines added)
- ROADMAP.md (updated Phase 4 status)
Files Created:
- PHASE_4_SUMMARY.md
- examples/advanced_motion/ (6 new files, 1,916 total lines)
Statistics:
- New API methods: 5 public methods + 4 helper functions
- Example code: ~1,332 lines
- Documentation: ~584 lines
- Total additions: ~2,466 lines
Production Applications:
- Drilling and milling (expanding/contracting spirals)
- Assembly (circular insertion, smooth approaches)
- Inspection (spiral scanning, circular features)
- Welding/coating (continuous beads, smooth transitions)
- Pick and place (optimized cycles, blended paths)
Phase 4 Status: ✅ COMPLETE
Date: January 17, 2026
Adam
cc19e102e8