圈上泽文通大华 Example solution 4-5-6-7 polynomial-set the jerk to be zero at 0 and B -4-- Has continuous jerk,but everything else is larger 0 B cam angleθ 圈上泽夫道大学 Acceleration Comparisons Modified trapezoid is the best,followed by modified sin and 3-4-5 Low accelerations imply low forces Acceleration 4-5-6-7 polynomial displacement Cycloidal displacement (sine acceleration) 3-4-5 polynomial displacement B 0 Modified sine Modified trapezoid 2626  4-5-6-7 polynomial – set the jerk to be zero at 0 and   Has continuous jerk, but everything else is larger Example solution                                             4 5 6 7 35 84 70 20         s h Acceleration Comparisons  Modified trapezoid is the best, followed by modified sin and 3-4-5  Low accelerations imply low forces