|
Re: Motion Profiling
Ok. After reading a bit more online, I understand some of the terms. Jerk is caused by the transition between acceleration / velocity, velocity / deceleration, or acceleration / deceleration. Those are the 'sharp' points on the graph.
To create a motion profile utilizing acceleration and deceleration, don't you have experimentally measure these to accurately determine what your robot is capable of?
From what I understand, motion profiling would seem to get you to your position point more quickly that PID. With PID, you have your drive values taper off as you get closer to your setpoint. With motion profiling, you would stay at your maximum velocity until it's time to go into maximum deceleration.
Is this accurate?
|