On Tuesday 01 May 2012 10:32:12 Joachim Franek wrote:
> 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?.
Maxima gives different result to 5.14:
(%i1) vh + as * t -jm * t * t /2;
2
jm t
(%o1) vh - ----- + as t
2
(%i2) solve(%o1,t);
2 2
sqrt(2 jm vh + as ) - as sqrt(2 jm vh + as ) + as
(%o2) [t = - ------------------------, t = ------------------------]
jm jm
Joachim
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