Quote:
Originally Posted by martinrand
I'm trying to stay away from S-Curve profiles for the time being.
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If you use a trapezoidal velocity profile,
you will get an S-curve for x(t).
Quote:
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I think I should probably understand the trapezoidal method before I start jumping into some more complicated.
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Sinusoidal is actually less complicated in many ways. No need to break the functions into regions.
FWIW, I just updated the paper to
revA to include a plot of accel vs velocity so you can check to make sure the profile does not run afoul of motor saturation.