Universal Robots Forum

Equation behind time based movements

I am developing a plugin that handles a 7th axes. I would like to know how Polyscope calculates the acceleration and speed during a time based movement (like 3 seconds for 90degree on the base).
I realized that under 45degrees it uses triangle form and above 45degrees it uses trapezoid, but I have no idea what is the equation behind the datas and it would be really important for my formula.

Has anybody worked with this problem?


I think the velocity profile follows the equation as the following to achieve the triangle velocity profile.

V^2=a*S…(V is the velocity, S is the moving distance)

Whether the profile is triangle or trapezoid depends on the “S” is longer enough to speed up to the desired constant velocity with the given acceleration.