Throw Rapid-Return 1: Finite-Jerk @ Start/End/Mid-Point Motion-Law

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Throw Rapid-Return 1: Finite-Jerk @ Start/End/Mid-Point Motion-Law

Throw: Rapid-Return Finite Jerk

The Throw Motion-Law

Unlike other motion-laws, the Throw motion-law rises from its Start-Position to its maximum displacement, and then returns to its Start-Position.

To give you maximum flexibility, use two Flexible Polynomial segments to design the Throw motion-law. Usually, the two segments have equal durations, but it is not necessary.

Throw: Rapid-Return 1 - Zero Jerk at Start and End.

Because you use two Flexible-Polynomial segments to design the Throw motion-law, you can enter different motion-values and motion-constraints at its start, its maximum displacement, and at its end.

This Throw has a Quick-Return because it has a LARGE negative acceleration, and unspecified Jerk, at its maximum displacement - the transition from Rise to Return.


See also:

Quick Return 1: Finite Jerk @ Start/End/Mid-Point

Quick Return 2: Zero Jerk @ Start/End/Mid-Point

Rapid Return 2: Smooth-Start/End

Two Segment 'Rapid-Return Motion 1

MT-Throw-RapidReturn-UnspecifiedJerks

Motion-Values of each motion-derivative

Start of Rise segment 1 :

Position = 0

Velocity = 0

Acceleration = 0

Jerk = Unspecified ( Actual value = 260.6m/s/s/s )

Middle Blend-Point*:

Position = 1

Velocity = 0

Acceleration = Unspecified (  Actual value = -58.84mm/s/s )

Jerk = Unspecified ( Actual value = ±521.167mm/s/s/s )

End of Return segment 2 :

Position 2 = 0

Velocity = 0

Acceleration = 0

Jerk = Unspecified ( Actual value = -260.6mm/s/s/s )


* Edit the X-axis value of the middle Blend-Point to give an asymmetrical motion.