Jerk Ratio

The Jerk Ratio profile can be thought of as a profile type that is partway between the Trapezoidal and S-Curve profile types. The acceleration jerk ratio determines the shape of the acceleration curve, and is defined as the ratio of the time where the acceleration is changing (jerk is nonzero) to the total acceleration time. The deceleration jerk ratio similarly determines the shape of the deceleration curve. The acceleration jerk ratio and deceleration jerk ratio must be values between 0 and 1 inclusive.

If the acceleration jerk ratio and deceleration jerk ratio are both 0, the profile becomes identical to the Trapezoidal profile. If the acceleration jerk ratio and deceleration jerk ratio are both 1, the profile becomes identical to the S-Curve profile.

This profile uses the following profile parameters:

Parameter	Description
Velocity	Maximum velocity
Acc	Average acceleration
Dec	Average deceleration
Jerk Acc Ratio	Acceleration jerk ratio
Jerk Dec Ratio	Deceleration jerk ratio
Starting Velocity	Initial velocity
End Velocity	Final velocity

The following plots show the position, velocity, acceleration, and jerk of a jerk ratio profile with a jerk ratio of 0.75 (closer to S-Curve than to Trapezoidal).