How to apply a forth order polynomial to limit jerk

[zaka]

Hi @christian.mackin ,

I haven’t looked at your code, but I have attached a RTDE example of using servoj and linked a forum post that may be helpful to you.

Servoj_RTDE_UR5-main.zip (22.1 KB)

Servoj URScript (abrupt final motion)

Hi everyone, I am using a servoj command to operate the robot, to move from point A to point B. I am not 100% sure I am using the command correctly, because at the end of the motion, robot doesn’t slow down noticeable and it stops abruptly as can be seen on the video (UR5e Servoj issue - YouTube) I have done a trajectory planning with an initial and final velocity/ acceleration to be zero (my conditions). Even though the graphs I received show me that the velocity and acceleration behave in t…