# Blending failure - C204A6

**URL:** <https://forum.universal-robots.com/t/blending-failure-c204a6/3937>\
**Category:** URScript\
**Created:** [March 26, 2019, 12:37am UTC](https://forum.universal-robots.com/t/blending-failure-c204a6/3937 "2019-03-26T00:37:19Z")\
**Posts on this page:** 1\
**Showing post:** 3

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**Author:** ![inu](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/inu/32/732_2.png) [@inu](https://forum.universal-robots.com/u/inu)\
**Post date:** [March 26, 2019, 4:55pm UTC](https://forum.universal-robots.com/t/blending-failure-c204a6/3937/3 "2019-03-26T16:55:14Z")

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A colleague recently published a great paper that discusses Joint speeds, Blending, Speed profiles with and without blending, and discusses optimizing robot acceleration. It may be worth a look over to see if it could clear up some of these points: [Robot theory and how to use it in UR robots](https://forum.universal-robots.com/t/robot-theory-and-how-to-use-it-in-ur-robots/3863)

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