国 上泽文通大学 Combined function-Trapezoidal 口 Constant acceleration gives infinite jerk ▣ Trapezoidal acceleration gives finite jerk > However,jerk discontinuities undesirable May excite vibratory behavior Low Rise High Trapezoidal dwell dwell acceleration Constant acceleratio (for comparison） Rise 0 B/8 周 上海充通大学 Combined function-Modified Trapezoidal ▣ Combination of sinusoidal and constant acceleration Need to integrate to get the magnitude Good (d)Take a sne wave design 非/828 1919 Combined function-Trapezoidal  Constant acceleration gives infinite jerk  Trapezoidal acceleration gives finite jerk  However, jerk discontinuities undesirable  May excite vibratory behavior Combined function-Modified Trapezoidal  Combination of sinusoidal and constant acceleration  Need to integrate to get the magnitude Good design