Abstract

nowadays, there are several techniques for the acceleration and deceleration of computer numerical control (CNC) machine tools and industrial robots (Robot manipulators) in order to plan smoother trajectories avoiding the jerk and another kind of stress. The aim of this article is to show a comparison between the trapezoidal and s-curve velocity profile used in robotics and CNC machinery. After doing that, the reader will be able to select a velocity profile in order to design their trajectories.

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