Motion Profiling

[Ether]

Just for fun and educational purposes, I wrote a Maxima script for sinusoidal accel profile and added it to the paper.

The user enters max allowable acceleration and time-to-destination, and the script computes the equations for distance, speed, acceleration, and jerk versus time.. and plots them.


Attached is a sample graph generated with the script for max accel = 6.3 ft/sec² and time-to-distance = 3 seconds.

The vehicle goes from x=0, v=0, a=0, and jerk=13.2 at t=0
to x=9, v=0, a=0, and jerk=13.2 at t=3 seconds.

[Ether]

Originally Posted by Ether

Attached is a sample graph generated with the script for max accel = 6.3 ft/sec² and time-to-distance = 3 seconds.

The vehicle goes from x=0, v=0, a=0, and jerk=13.2 at t=0
to x=9, v=0, a=0, and jerk=13.2 at t=3 seconds.

For comparison, here's a plot using trapezoidal accel, with the same max accel, jerk, and time-to-distance.

The vehicle goes from x=0, v=0, a=0, and jerk=13.2 at t=0
to x=9.7, v=0, a=0, and jerk=13.2 at t=3 seconds.