Jerk-Limited S-Curve

In the Jerk-Limited S-Curve profile, the acceleration curve of the profile is divided into two equal parts. In each half, the acceleration increases or decreases at a constant rate such that the specified acceleration and acceleration jerk limits are not exceeded. The deceleration curve is also generated similarly with the specified deceleration and deceleration jerk limits.

The differences between this profile and the S-Curve profile are that the acceleration jerk and deceleration jerk are specified, and that the acceleration and deceleration are specified as a limit instead of an average value.

This profile uses the following profile parameters:

Parameter	Description
Velocity	Maximum velocity
Acc	Maximum acceleration
Dec	Maximum deceleration
Jerk Acc	Maximum acceleration jerk
Jerk Dec	Maximum deceleration jerk
Starting Velocity	Initial velocity
End Velocity	Final velocity

The following plots show the position, velocity, acceleration, and jerk of a jerk-limited S-curve profile.