3. How to reduce jerk in linear motion systems
Just as acceleration is the rate of change (derivative) of velocity, jerk is the rate of change (derivative) of acceleration. Jerk is generally undesirable because it creates—you guessed it—abrupt, jerky motion. In industrial applications such as machine tools, SCARA robots, and dispensing systems, a rapid change in acceleration—i.e. jerk—causes the system to vibrate. The higher the jerk, the stronger the vibrations. And vibrations increase positioning accuracy, settling time, and cycle time.
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