On Monday 30 April 2012 22:42:45 andy pugh wrote: > For my simple exact-stop and constant-speed requirements, I am > planning on an approach that says, on every servo cycle: > If I was to decrement acceleration by the max jerk from the current > velocity and acceleration, how long would it take for v = 0? > v(t) = v0 + at -j.t^2/2 => t = -v0 + sqrt(a^2 + 2.v0.j) / 2.v0
This is equation 5.12 and 5.14?. Attached are libreoffice math files. Joachim
ch5_convex_01.odf
Description: application/vnd.oasis.opendocument.formula
ch5_cancave_02.odf
Description: application/vnd.oasis.opendocument.formula
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