圆上活支大学 Jerk Comparison 口 Cycloidal is lowest,followed by 4-5-6-7 polynomial and 3-4-5 polynomial Low jerk implies lower vibrations Jerk Modified sine Modified trapezoid 3-4-5 polynomial 4-5-6-7 polynomial Cycloidal Modified sine Modified trapezoid © 上海充通大学 Velocity Comparison Modified sine is best,followed by 3-4-5 polynomial Low velocity means low kinetic energy 4-5-6-7 polynomial Velocity 3-4-5 polynomial Modified trapezoid Cycloidal Modified sine 0 2727 Jerk Comparison  Cycloidal is lowest, followed by 4-5-6-7 polynomial and 3-4-5 polynomial  Low jerk implies lower vibrations Velocity Comparison  Modified sine is best, followed by 3-4-5 polynomial  Low velocity means low kinetic energy