TOPP

Key Insight

A geometric path only dictates where the robot travels, not when or how fast it should move, leaving joint velocities and accelerations undefined. TOPP (Time-Optimal Path Parameterization) calculates the optimal velocity profile along a pre-planned path, ensuring the robot travels as fast as possible without violating its physical joint-velocity and acceleration limits. This project implements TOPP to parameterize a geometric path, demonstrating how velocity profile limits prevent actuator damage while maximizing motion efficiency.