Vibration Near Stop During Trajectory Execution – Time Parameterization / Deceleration Question

[kkawai12]

Description

When executing a planned trajectory in MoveIt 2, a small vibration occurs just before the robot reaches the final position.

• The motion is smooth during the main path.
• Oscillation appears during the deceleration phase.
• The vibration amplitude increases at higher speeds.
• Native controller-side programs do not show this behavior.

This suggests the issue may be related to trajectory time parameterization or deceleration shaping in MoveIt 2.

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Your environment

• ROS Distro: Humble
• OS Version: Ubuntu 22.04
• MoveIt 2: default configuration
• Planner: Pilz (LIN motion)
• Time parameterization: default

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Questions

1. Does the default MoveIt 2 time parameterization apply jerk limits?
2. If not, is Ruckig recommended for jerk-limited deceleration?
3. Is TOTG sufficient for smooth stopping in industrial robot applications?
4. Are there recommended settings to improve deceleration smoothness near the goal?
5. Could waypoint resolution or interpolation density affect stop stability?

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Current Configuration

• Velocity scaling: 0.1
• Acceleration scaling: 0.1
• Linear motion (Pilz planner)

Any guidance on achieving smoother deceleration behavior would be greatly appreciated.

Thank you.

[riv-mjohnson]

Pilz LIN just uses a trapezoidal velocity profile (in cartesian space). This will have discontinuous acceleration, and so spikes in jerk/snap etc. These are likely the cause of the vibration you are seeing.

For smoother velocity profiles, you can use a smoothing post-processor or planning adapter, or switch to a planner which is designed to generate smooth profiles.