09-26-2013, 03:04 PM

Hello,

I have a simple equation that defines actual pos (mm) using counts. It looks something like this

P= 100*sin((P5-10000)/P117)+100

Where P5 is counts and P117 is a constant.

My problem is: Theoretically I should be able to differentiate this position formula to get Velocity, and then again to get acceleration; but there is now time variable in this equation to differentiate with. Im trying to find the max accel that the robot arm sees through this motion. What am I missing here (other than time)?

Thanks

Dave

I have a simple equation that defines actual pos (mm) using counts. It looks something like this

P= 100*sin((P5-10000)/P117)+100

Where P5 is counts and P117 is a constant.

My problem is: Theoretically I should be able to differentiate this position formula to get Velocity, and then again to get acceleration; but there is now time variable in this equation to differentiate with. Im trying to find the max accel that the robot arm sees through this motion. What am I missing here (other than time)?

Thanks

Dave