Motion Profile Demo

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Simulation setup

CSV File Contents:

position [rad];inertia [kgm^2];load torque [Nm];friction [Nms/rad]
0;0.003649947;0.102535967;0.1
0.017453293;0.003654592;0.123805948;0.1
0.034906585;0.003667014;0.144948801;0.1
0.052359878;0.003687119;0.165931666;0.1
0.06981317;0.003714794;0.186722309;0.1
0.087266463;0.003749914;0.207289175;0.1
0.104719755;0.003792335;0.22760145;0.1
0.122173048;0.003841902;0.247629102;0.1
0.13962634;0.003898452;0.267342939;0.1
0.157079633;0.003961803;0.286714643;0.1
0.174532925;0.004031765;0.305716814;0.1
0.191986218;0.004108136;0.324323004;0.1
0.20943951;0.004190712;0.342507747;0.1
0.226892803;0.004279268;0.360246587;0.1
0.244346095;0.004373583;0.377516101;0.1
0.261799388;0.004473429;0.394293921;0.1
0.27925268;0.00457856;0.410558749;0.1
0.296705973;0.004688738;0.426290369;0.1
0.314159265;0.004803716;0.441469658;0.1
0.331612558;0.004923244;0.456078592;0.1
0.34906585;0.005047069;0.470100251;0.1
0.366519143;0.005174952;0.483518821;0.1
0.383972435;0.005306635;0.496319588;0.1
0.401425728;0.005441837;0.508488938;0.1
0.41887902;0.005580322;0.52001435;0.1
0.436332313;0.005721825;0.530884388;0.1
0.453785606;0.005866087;0.541088686;0.1
0.471238898;0.006012872;0.550617945;0.1
0.488692191;0.006161903;0.559463911;0.1
0.506145483;0.006312955;0.567619363;0.1
0.523598776;0.006465773;0.575078097;0.1
0.541052068;0.006620107;0.581834908;0.1
0.558505361;0.006775742;0.587885571;0.1
0.575958653;0.006932411;0.593226822;0.1
0.593411946;0.007089911;0.597856335;0.1
0.610865238;0.007248009;0.601772707;0.1
0.628318531;0.007406473;0.60497543;0.1
0.645771823;0.007565155;0.607464872;0.1
0.663225116;0.007723724;0.609242255;0.1
0.680678408;0.007882046;0.610309633;0.1
0.698131701;0.008039912;0.610669866;0.1
0.715584993;0.008197123;0.610326602;0.1
0.733038286;0.008353476;0.609284249;0.1
0.750491578;0.008508794;0.607547957;0.1
0.767944871;0.008662907;0.605123594;0.1
0.785398163;0.00881566;0.602017721;0.1
0.802851456;0.008966856;0.598237573;0.1
0.820304748;0.009116341;0.593791035;0.1
0.837758041;0.009263969;0.588686623;0.1
0.855211333;0.009409589;0.582933458;0.1
0.872664626;0.009553052;0.57654125;0.1
0.890117919;0.009694204;0.569520275;0.1
0.907571211;0.009832915;0.561881355;0.1
0.925024504;0.009969059;0.553635836;0.1
0.942477796;0.010102514;0.544795574;0.1
0.959931089;0.010233176;0.53537291;0.1
0.977384381;0.010360901;0.525380655;0.1
0.994837674;0.010485585;0.514832073;0.1
1.012290966;0.010607126;0.503740859;0.1
1.029744259;0.010725424;0.492121125;0.1
1.047197551;0.010840402;0.479987381;0.1
1.064650844;0.010951936;0.467354521;0.1
1.082104136;0.011059983;0.454237806;0.1
1.099557429;0.011164385;0.440652845;0.1
1.117010721;0.011265113;0.426615587;0.1
1.134464014;0.01136209;0.412142297;0.1
1.151917306;0.01145525;0.39724955;0.1
1.169370599;0.011544485;0.38195421;0.1
1.186823891;0.011629743;0.36627342;0.1
1.204277184;0.011710983;0.350224585;0.1
1.221730476;0.011788147;0.333825363;0.1
1.239183769;0.011861159;0.317093647;0.1
1.256637061;0.011929983;0.300047555;0.1
1.274090354;0.011994558;0.282705417;0.1
1.291543646;0.012054858;0.265085761;0.1
1.308996939;0.012110842;0.2472073;0.1
1.326450232;0.012162449;0.229088923;0.1
1.343903524;0.012209659;0.210749678;0.1
1.361356817;0.012252459;0.192208765;0.1
1.378810109;0.012290774;0.173485518;0.1
1.396263402;0.012324601;0.154599399;0.1
1.413716694;0.012353946;0.135569979;0.1
1.431169987;0.012378759;0.116416933;0.1
1.448623279;0.012399035;0.097160023;0.1
1.466076572;0.012414723;0.077819086;0.1
1.483529864;0.01242584;0.058414024;0.1
1.500983157;0.012432365;0.038964789;0.1
1.518436449;0.012434296;0.019491371;0.1
1.535889742;0.01243164;1.38E-05;0.1
1.553343034;0.012424366;-0.019447938;0.1
1.570796327;0.012412504;-0.038873775;0.1
1.588249619;0.012396046;-0.058243714;0.1
1.605702912;0.012375009;-0.077537772;0.1
1.623156204;0.012349411;-0.09673601;0.1
1.640609497;0.01231924;-0.115818545;0.1
1.658062789;0.012284541;-0.13476557;0.1
1.675516082;0.012245321;-0.153557362;0.1
1.692969374;0.012201614;-0.172174304;0.1
1.710422667;0.012153457;-0.190596899;0.1
1.727875959;0.012100853;-0.208805784;0.1
1.745329252;0.012043865;-0.226781753;0.1
1.762782545;0.01198252;-0.244505768;0.1
1.780235837;0.011916869;-0.26195898;0.1
1.79768913;0.011846968;-0.279122748;0.1
1.815142422;0.011772841;-0.295978656;0.1
1.832595715;0.01169457;-0.312508535;0.1
1.850049007;0.011612202;-0.32869448;0.1
1.8675023;0.01152581;-0.344518873;0.1
1.884955592;0.011435472;-0.359964399;0.1
1.902408885;0.011341233;-0.375014076;0.1
1.919862177;0.011243198;-0.389651267;0.1
1.93731547;0.011141438;-0.40385971;0.1
1.954768762;0.011036048;-0.417623535;0.1
1.972222055;0.01092713;-0.430927291;0.1
1.989675347;0.010814755;-0.443755966;0.1
2.00712864;0.010699051;-0.456095014;0.1
2.024581932;0.010580114;-0.467930376;0.1
2.042035225;0.010458066;-0.479248506;0.1
2.059488517;0.010333033;-0.490036395;0.1
2.07694181;0.010205113;-0.500281592;0.1
2.094395102;0.010074459;-0.509972235;0.1
2.111848395;0.009941193;-0.519097069;0.1
2.129301687;0.009805467;-0.527645474;0.1
2.14675498;0.009667426;-0.535607488;0.1
2.164208272;0.009527198;-0.542973827;0.1
2.181661565;0.009384962;-0.549735917;0.1
2.199114858;0.009240863;-0.555885905;0.1
2.21656815;0.009095079;-0.561416691;0.1
2.234021443;0.008947779;-0.566321945;0.1
2.251474735;0.008799115;-0.570596126;0.1
2.268928028;0.008649288;-0.574234504;0.1
2.28638132;0.008498467;-0.577233177;0.1
2.303834613;0.008346847;-0.57958909;0.1
2.321287905;0.00819462;-0.581300046;0.1
2.338741198;0.008041956;-0.582364724;0.1
2.35619449;0.007889073;-0.582782694;0.1
2.373647783;0.007736155;-0.582554418;0.1
2.391101075;0.007583412;-0.58168127;0.1
2.408554368;0.007431046;-0.580165536;0.1
2.42600766;0.007279242;-0.578010421;0.1
2.443460953;0.007128222;-0.57522005;0.1
2.460914245;0.006978181;-0.571799471;0.1
2.478367538;0.006829329;-0.567754649;0.1
2.49582083;0.00668187;-0.563092465;0.1
2.513274123;0.006535994;-0.557820706;0.1
2.530727415;0.006391915;-0.551948056;0.1
2.548180708;0.006249825;-0.545484086;0.1
2.565634;0.006109926;-0.538439234;0.1
2.583087293;0.005972411;-0.530824791;0.1
2.600540585;0.005837461;-0.52265288;0.1
2.617993878;0.005705271;-0.513936433;0.1
2.635447171;0.005576017;-0.504689163;0.1
2.652900463;0.005449878;-0.494925542;0.1
2.670353756;0.005327026;-0.484660762;0.1
2.687807048;0.005207617;-0.473910713;0.1
2.705260341;0.005091818;-0.462691937;0.1
2.722713633;0.004979775;-0.4510216;0.1
2.740166926;0.004871634;-0.438917449;0.1
2.757620218;0.004767532;-0.426397772;0.1
2.775073511;0.004667592;-0.413481358;0.1
2.792526803;0.00457194;-0.400187451;0.1
2.809980096;0.00448068;-0.386535706;0.1
2.827433388;0.004393922;-0.372546148;0.1
2.844886681;0.004311757;-0.358239119;0.1
2.862339973;0.004234268;-0.343635239;0.1
2.879793266;0.004161532;-0.328755352;0.1
2.897246558;0.004093614;-0.313620484;0.1
2.914699851;0.004030571;-0.298251798;0.1
2.932153143;0.003972449;-0.28267054;0.1
2.949606436;0.003919287;-0.266898005;0.1
2.967059728;0.003871113;-0.250955482;0.1
2.984513021;0.003827947;-0.234864216;0.1
3.001966313;0.003789798;-0.218645365;0.1
3.019419606;0.003756669;-0.202319958;0.1
3.036872898;0.003728553;-0.185908857;0.1
3.054326191;0.003705436;-0.16943272;0.1
3.071779484;0.003687292;-0.152911963;0.1
3.089232776;0.003674094;-0.136366728;0.1
3.106686069;0.003665801;-0.11981685;0.1
3.124139361;0.003662369;-0.103281831;0.1
3.141592654;0.003663745;-0.086780808;0.1
3.159045946;0.003669871;-0.070332533;0.1
3.176499239;0.003680684;-0.053955347;0.1
3.193952531;0.003696113;-0.037667158;0.1
3.211405824;0.003716083;-0.021485431;0.1
3.228859116;0.003740516;-0.005427162;0.1
3.246312409;0.003769326;0.010491128;0.1
3.263765701;0.003802426;0.026253406;0.1
3.281218994;0.003839725;0.04184414;0.1
3.298672286;0.003881125;0.057248298;0.1
3.316125579;0.003926534;0.07245136;0.1
3.333578871;0.003975847;0.08743932;0.1
3.351032164;0.004028965;0.102198683;0.1
3.368485456;0.004085785;0.116716468;0.1
3.385938749;0.004146197;0.130980206;0.1
3.403392041;0.004210101;0.144977934;0.1
3.420845334;0.004277385;0.158698191;0.1
3.438298626;0.004347946;0.172130014;0.1
3.455751919;0.004421682;0.185262927;0.1
3.473205211;0.004498465;0.198086933;0.1
3.490658504;0.004578205;0.210592507;0.1
3.508111797;0.004660786;0.222770584;0.1
3.525565089;0.004746107;0.234612548;0.1
3.543018382;0.004834064;0.246110221;0.1
3.560471674;0.004924541;0.257255851;0.1
3.577924967;0.005017448;0.268042099;0.1
3.595378259;0.005112672;0.278462029;0.1
3.612831552;0.005210119;0.288509091;0.1
3.630284844;0.00530969;0.298177111;0.1
3.647738137;0.005411282;0.30746028;0.1
3.665191429;0.005514796;0.316353136;0.1
3.682644722;0.005620135;0.324850557;0.1
3.700098014;0.005727212;0.332947744;0.1
3.717551307;0.005835936;0.340640215;0.1
3.735004599;0.0059462;0.347923787;0.1
3.752457892;0.006057934;0.354794567;0.1
3.769911184;0.006171036;0.361248946;0.1
3.787364477;0.006285428;0.367283581;0.1
3.804817769;0.006401027;0.372895392;0.1
3.822271062;0.006517732;0.378081549;0.1
3.839724354;0.00663548;0.382839465;0.1
3.857177647;0.006754189;0.387166791;0.1
3.874630939;0.006873762;0.391061403;0.1
3.892084232;0.006994133;0.394521402;0.1
3.909537524;0.007115206;0.397545106;0.1
3.926990817;0.007236924;0.400131043;0.1
3.94444411;0.007359197;0.402277952;0.1
3.961897402;0.007481957;0.403984775;0.1
3.979350695;0.00760513;0.405250659;0.1
3.996803987;0.007728621;0.40607495;0.1
4.01425728;0.007852378;0.406457195;0.1
4.031710572;0.007976324;0.406397142;0.1
4.049163865;0.008100365;0.40589474;0.1
4.066617157;0.008224444;0.40495014;0.1
4.08407045;0.008348462;0.4035637;0.1
4.101523742;0.008472371;0.401735983;0.1
4.118977035;0.008596075;0.399467769;0.1
4.136430327;0.008719511;0.39676005;0.1
4.15388362;0.008842602;0.393614042;0.1
4.171336912;0.008965246;0.390031191;0.1
4.188790205;0.009087393;0.386013176;0.1
4.206243497;0.009208948;0.38156192;0.1
4.22369679;0.009329835;0.376679595;0.1
4.241150082;0.009449974;0.371368635;0.1
4.258603375;0.009569264;0.365631742;0.1
4.276056667;0.009687663;0.359471896;0.1
4.29350996;0.009805024;0.352892367;0.1
4.310963252;0.009921291;0.345896728;0.1
4.328416545;0.010036377;0.338488862;0.1
4.345869837;0.01015017;0.330672976;0.1
4.36332313;0.010262598;0.322453615;0.1
4.380776423;0.010373555;0.313835674;0.1
4.398229715;0.010482968;0.304824409;0.1
4.415683008;0.010590704;0.295425454;0.1
4.4331363;0.01069666;0.28564483;0.1
4.450589593;0.010800755;0.275488966;0.1
4.468042885;0.010902898;0.264964704;0.1
4.485496178;0.011002949;0.25407932;0.1
4.50294947;0.011100827;0.242840536;0.1
4.520402763;0.011196369;0.231256531;0.1
4.537856055;0.011289505;0.219335959;0.1
4.555309348;0.01138011;0.20708796;0.1
4.57276264;0.011468073;0.194522173;0.1
4.590215933;0.011553282;0.181648752;0.1
4.607669225;0.011635591;0.168478372;0.1
4.625122518;0.011714932;0.155022249;0.1
4.64257581;0.011791117;0.141292143;0.1
4.660029103;0.011864054;0.127300374;0.1
4.677482395;0.011933665;0.113059829;0.1
4.694935688;0.011999713;0.098583971;0.1
4.71238898;0.012062195;0.083886848;0.1
4.729842273;0.012120872;0.068983095;0.1
4.747295565;0.012175673;0.053887942;0.1
4.764748858;0.012226479;0.038617221;0.1
4.78220215;0.012273128;0.023187359;0.1
4.799655443;0.012315531;0.007615388;0.1
4.817108736;0.012353543;-0.008081063;0.1
4.834562028;0.012387087;-0.023883767;0.1
4.852015321;0.012415979;-0.039773907;0.1
4.869468613;0.012440095;-0.055732081;0.1
4.886921906;0.012459359;-0.071738315;0.1
4.904375198;0.012473681;-0.087772067;0.1
4.921828491;0.012482891;-0.10381225;0.1
4.939281783;0.012486933;-0.119837245;0.1
4.956735076;0.012485606;-0.135824916;0.1
4.974188368;0.012478895;-0.15175264;0.1
4.991641661;0.012466685;-0.167597323;0.1
5.009094953;0.0124489;-0.183335433;0.1
5.026548246;0.012425471;-0.198943031;0.1
5.044001538;0.012396276;-0.214395796;0.1
5.061454831;0.012361346;-0.229669071;0.1
5.078908123;0.012320503;-0.244737896;0.1
5.096361416;0.012273759;-0.25957705;0.1
5.113814708;0.012221146;-0.274161098;0.1
5.131268001;0.012162453;-0.288464437;0.1
5.148721293;0.012097859;-0.302461349;0.1
5.166174586;0.012027174;-0.316126049;0.1
5.183627878;0.011950491;-0.329432746;0.1
5.201081171;0.011867835;-0.342355701;0.1
5.218534463;0.011779176;-0.354869284;0.1
5.235987756;0.01168461;-0.366948041;0.1
5.253441049;0.011584162;-0.378566761;0.1
5.270894341;0.011477961;-0.389700536;0.1
5.288347634;0.011366;-0.400324839;0.1
5.305800926;0.011248368;-0.410415589;0.1
5.323254219;0.011125233;-0.419949221;0.1
5.340707511;0.010996748;-0.428902767;0.1
5.358160804;0.010862974;-0.437253921;0.1
5.375614096;0.010724131;-0.444981115;0.1
5.393067389;0.010580271;-0.452063597;0.1
5.410520681;0.010431656;-0.458481498;0.1
5.427973974;0.010278511;-0.464215908;0.1
5.445427266;0.010121033;-0.46924895;0.1
5.462880559;0.00995945;-0.473563843;0.1
5.480333851;0.009793994;-0.47714498;0.1
5.497787144;0.009624936;-0.479977986;0.1
5.515240436;0.009452574;-0.482049785;0.1
5.532693729;0.009277175;-0.483348662;0.1
5.550147021;0.00909904;-0.483864317;0.1
5.567600314;0.008918466;-0.483587922;0.1
5.585053606;0.00873579;-0.482512167;0.1
5.602506899;0.008551426;-0.48063131;0.1
5.619960191;0.008365604;-0.477941212;0.1
5.637413484;0.008178729;-0.474439375;0.1
5.654866776;0.007991151;-0.470124974;0.1
5.672320069;0.007803243;-0.464998875;0.1
5.689773362;0.007615352;-0.459063663;0.1
5.707226654;0.007427864;-0.452323645;0.1
5.724679947;0.007241182;-0.444784867;0.1
5.742133239;0.00705568;-0.436455103;0.1
5.759586532;0.006871748;-0.427343858;0.1
5.777039824;0.006689747;-0.417462352;0.1
5.794493117;0.006510066;-0.406823503;0.1
5.811946409;0.006333101;-0.395441899;0.1
5.829399702;0.006159219;-0.383333772;0.1
5.846852994;0.005988789;-0.370516956;0.1
5.864306287;0.00582216;-0.357010847;0.1
5.881759579;0.005659687;-0.342836353;0.1
5.899212872;0.005501727;-0.32801584;0.1
5.916666164;0.005348606;-0.312573073;0.1
5.934119457;0.005200645;-0.296533152;0.1
5.951572749;0.005058144;-0.279922441;0.1
5.969026042;0.004921397;-0.2627685;0.1
5.986479334;0.004790693;-0.245100003;0.1
6.003932627;0.004666283;-0.22694666;0.1
6.021385919;0.004548419;-0.208339135;0.1
6.038839212;0.004437321;-0.189308959;0.1
6.056292504;0.004333203;-0.169888444;0.1
6.073745797;0.004236257;-0.150110591;0.1
6.091199089;0.004146651;-0.130009003;0.1
6.108652382;0.00406454;-0.109617791;0.1
6.126105675;0.003990053;-0.088971485;0.1
6.143558967;0.003923303;-0.068104941;0.1
6.16101226;0.003864383;-0.047053252;0.1
6.178465552;0.003813363;-0.025851656;0.1
6.195918845;0.003770296;-0.004535451;0.1
6.213372137;0.003735213;0.016860095;0.1
6.23082543;0.003708127;0.038299826;0.1
6.248278722;0.00368903;0.059748781;0.1
6.265732015;0.003677897;0.081172274;0.1
6.283185307;0.003674684;0.102535967;0.1

Unique ID: TS: Delimiter:

Objective

OBJECTIVE:

Required constraints

TIMEA: POSA: POSB:

Optional constraints (sometimes required)

TIMEB: Tmax: SPEEDMAX: ACCELERATIONMAX: JERKMAX:

Motion Profile Demo

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Simulation setup

Objective

Required constraints

Optional constraints (sometimes required)

Completed simulations