S-Curve Acceleration / Deceleration [Symmetry] - ICP DAS USA I-8092F User Manual
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A.3.4 S-curve Acceleration / Deceleration [Symmetry]
Complete S-curve Description
The complete S-Curve is composed of two two-degree velocity curves; if we set the time of the
acceleration is TA:
Velocity equation of segment (1):
=
2
<
V
) (
t
Ct
,
t
TA
2 /
Velocity equation of segment (2):
=
−
−
2
V
) (
t
V
C
(
TA
t
)
Boundary condition:
=
=
V
(
) 0
, 0
V
(
TA
/
) 2
By the BCs and then we can find that
2
V
C =
2
(
TA
)
ICPDAS
>
,
t
TA
2 /
=
V
/
, 2
V
( '
) 0
0
Fig. A-18 Complete S-curve acc. planning
(1-4)
(1-5)
(1-6)
(1-7)
99
I-8092F Software User Manual
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