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4.2 Path Generation 179
Figure 4.2.5: Minimum-time trajectory: (a) acceleration; (b) velocity.
or
t s =(t f +t 0 )/2. (4.2.10)
That is, the switching from maximum acceleration to maximum deceleration
occurs at the half-time point. Now simple manipulations on the position
equations yield
Copyright © 2004 by Marcel Dekker, Inc.
