Efficient Planning and Solving Algorithm of -Shape Acceleration and Deceleration

Table 4

Parameters used in the simulation.

Symbol	Item	Value
	Initial velocity	20 mm/s
	Final velocity	30 mm/s
	Maximum velocity	100 mm/s
	Maximum acceleration	600 mm/s^2
	Maximum jerk	mm/s^3
	Iteration termination precision	mm/s
	Interpolation period	1 ms
	Displacement	0.01-18 mm
	Initial velocity of iteration	15 mm/s