A Traditional Motion-Law. The Jerk motion-values of this motion-law are constant.

Use it when you want the Jerk to be a constant value, or the Acceleration to change linearly.

When the Velocity at its start and end are equal zero, it is the same as the Polynomial 2-3.

Start Position

The Start Position usually flows from the End Position of the Previous-Segment.

End Position

Start Velocity

The Start Velocity usually flows from the End Velocity of the Previous-Segment

End Velocity

Start Acceleration & End Acceleration

Start Jerk & End Jerk

None

None