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Learn the differences between motion profiles! 💨 A real demonstration of engineering skills. In each robotic arm, in each legged robot, you will discover actuators that make the robot move! Let's compare two motion profiles: rectangular and trapezoid. - A rectangular motion profile is like a car with abrupt... starts and stops, ideal for situations where speed is crucial. 🚙 - A trapezoid motion profile involves gradual acceleration and deceleration, offering a smoother ride, perfect for scenarios where precision and smoothness are essential, just like handling a pint of beer with care (I love your way of showing the difference! 🍻) P.S. Can you name different applications for these two motion profiles in robotics? ~~ ♻️ Join the weekly robotics newsletter, and never miss any news →show more

Lukas Ziegler

62,349 subscribers

112,393 views • 9 months ago •via X (Twitter)

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15 Comments

Engineering Randomness9 months ago

You stopped too soon. You need a 4th order TG.

Adam9 months ago

That’s exactly how I press on my brakes in my car so I don’t have the backward head jolts. I move forward in my seat when I brake, but do not shoot backward when fully stopped. Cool to see the ‘math’ of how I drive.

Dog of War9 months ago

Show me an S-profile with minimised jerk

Andreas Köpf9 months ago

In Germany the🍺 demo is allowed only with jerk limited s-curve velocity profile:

far9 months ago

bet there is some connection to window functions like the hanning window here

TensorFleet9 months ago

Great demo! Rectangular (aggressive) for sprint bots. Trapezoidal for liquids, cameras, and fragile end effectors.

NiceDreamz9 months ago

been tyrin to smooth out my commands ,, thanks this gives me something to work on

Gal Zajc (100% e-acc)9 months ago

nice! interesting question would be what's the acceleration a(t) such that the drink doesn't spill and it goes from one side to the other in a smallest amount of time

Mikhail Grigorov9 months ago

Was it really necessary to use beer? It goes bad, you know!

SKAKKK9 months ago

Nice explanation! Feels like Trapezoidal is some sort of Low pass filter equivalent in Electronic circuits.

Altiam Kabir9 months ago

Great breakdown of motion profiles! Smoothness vs. speed is key. Any favorite applications for each?

vulpes grumpes9 months ago

Oh huzzah. You showed impulse vs smoothed impulse response, and the effects of inertial dampening with fluid dynamics. *slow claps*

TheRearAdmiral9 months ago

jerk on, jerk off

Paradroid B.Pie9 months ago

Excellent! RE: Trapezoidal Have you considered different approaches to the smoothing algo? Use regular low pass (can include overshoot), critically damped (ensures best time to target with no overshoot). For extra points, you can go "spring and damper" for these too.

Fairooz Choudhury9 months ago

Fascinating breakdown of motion profiles! Great insights.

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