Triple-Harmonic Motion-Law
Triple-Harmonic is a Traditional Motion-Law Segment-Editor and Blend-Point Editor. You CAN specify the: •Start-Position •Usually, the Start-Position flows from the End-Position of the Previous-Segment •End-Position You CANNOT specify the: •Start-Velocity, End-Velocity •Start-Acceleration, End-Acceleration •Start-Jerk, End-Jerk - Function of Segment-Parameters Segment-Editor > Segment Parameters  Three Segment-Parameters:
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 TRIPLE HARMONIC |
Triple Harmonic as Approximate Motion-Laws
The Triple-Harmonic Motion-Law can approximate the Cycloidal, Modified-Trapezoidal, Modified Sine, Polynomial 3-4-5 Motion-Laws by using the Segment-Parameters below.
Cycloidal:
Parameter 1 (First Harmonic): 2*pi Parameter 2 (Second Harmonic): 0.0 Parameter 3 (Third Harmonic): 0.0 |
Modified Trapezoidal:
Parameter 1 (First Harmonic): 6.04 Parameter 2 (Second Harmonic): 0.0 Parameter 3 (Third Harmonic): 0.73 |
Modified Sine:
Parameter 1 (First Harmonic): 5.1968 Parameter 2 (Second Harmonic): 1.769 Parameter 3 (Third Harmonic): 0.6057 |
Polynomial 3-4-5
Parameter 1 (First Harmonic): 5.9 Parameter 2 (Second Harmonic): 0.704 Parameter 3 (Third Harmonic): 0.9 |
Triple Harmonic and other Motion-Laws
Zero-Jerk at Start, End and Cross-over
Parameter 1 (First Harmonic): 9*pi/4 Parameter 2 (Second Harmonic): 0.0 Parameter 3 (Third Harmonic): -3*pi/4 |
Zero-Jerk at Cross-over
Parameter 1 (First Harmonic): 4.9832 Parameter 2 (Second Harmonic): 2.6 Parameter 3 (Third Harmonic): 0.0 |
Zero-Jounce * at Start
Parameter 1 (First Harmonic): 7.79 Parameter 2 (Second Harmonic): -2.29 Parameter 3 (Third Harmonic): -1.08 *Jounce is a term used for rate-of-change of Jerk. |