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I wonder how to generate double s-curve velocity profile for multiple DOF trajectory. Since there are constraints on initial and final velocities which can be non-zero it is necessary to synchronize each DOF in time. Therefore firstly I would like to compute trajectory for DOF with the largest displacement and then trying to fit other DOFs in the computed execution time for the former. However I was not able to find anything about generating s-curve profile with given time. Having tried to solve it by myself I came up towith a conviction that it is an optimization problem. I tried several approaches but they all seemed to have extremely non-convex cost function and hardly could they satisfy constraints on final velocity. Having spent much time I wondered if there is an easy way to synchronize them?

I wonder how to generate double s-curve velocity profile for multiple DOF trajectory. Since there are constraints on initial and final velocities which can be non-zero it is necessary to synchronize each DOF in time. Therefore firstly I would like to compute trajectory for DOF with the largest displacement and then trying to fit other DOFs in the computed execution time for the former. However I was not able to find anything about generating s-curve profile with given time. Having tried to solve it by myself I came up to a conviction that it is an optimization problem. I tried several approaches but they all seemed to have extremely non-convex cost function and hardly could they satisfy constraints on final velocity. Having spent much time I wondered if there is an easy way to synchronize them?

I wonder how to generate double s-curve velocity profile for multiple DOF trajectory. Since there are constraints on initial and final velocities which can be non-zero it is necessary to synchronize each DOF in time. Therefore firstly I would like to compute trajectory for DOF with the largest displacement and then trying to fit other DOFs in the computed execution time for the former. However I was not able to find anything about generating s-curve profile with given time. Having tried to solve it by myself I came up with a conviction that it is an optimization problem. I tried several approaches but they all seemed to have non-convex cost function and hardly could they satisfy constraints on final velocity. Having spent much time I wondered if there is an easy way to synchronize them?

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I wonder how to generate double s-curve velocity profile for multiple DOF trajectory. Since there are constraints on initial and final velocities which can be non-zero it is necessary to synchronize each DOF in time. Therefore firstly I would like to compute trajectory for DOF with the smallestlargest displacement and then trying to fit other DOFs in the computed execution time for the former. However I was not able to find anything about generating s-curve profile with given time. Having tried to solve it by myself I came up to a conviction that it is an optimization problem. I tried several approaches but they all seemed to have extremely non-convex cost function and hardly could they satisfy constraints on final velocity. Having spent much time I wondered if there is an easy way to synchronize them?

I wonder how to generate double s-curve velocity profile for multiple DOF trajectory. Since there are constraints on initial and final velocities which can be non-zero it is necessary to synchronize each DOF in time. Therefore firstly I would like to compute trajectory for DOF with the smallest displacement and then trying to fit other DOFs in the computed execution time for the former. However I was not able to find anything about generating s-curve profile with given time. Having tried to solve it by myself I came up to a conviction that it is an optimization problem. I tried several approaches but they all seemed to have extremely non-convex cost function and hardly could they satisfy constraints on final velocity. Having spent much time I wondered if there is an easy way to synchronize them?

I wonder how to generate double s-curve velocity profile for multiple DOF trajectory. Since there are constraints on initial and final velocities which can be non-zero it is necessary to synchronize each DOF in time. Therefore firstly I would like to compute trajectory for DOF with the largest displacement and then trying to fit other DOFs in the computed execution time for the former. However I was not able to find anything about generating s-curve profile with given time. Having tried to solve it by myself I came up to a conviction that it is an optimization problem. I tried several approaches but they all seemed to have extremely non-convex cost function and hardly could they satisfy constraints on final velocity. Having spent much time I wondered if there is an easy way to synchronize them?

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# Generating double s-curve velocity profiles with given time

I wonder how to generate double s-curve velocity profile for multiple DOF trajectory. Since there are constraints on initial and final velocities which can be non-zero it is necessary to synchronize each DOF in time. Therefore firstly I would like to compute trajectory for DOF with the smallest displacement and then trying to fit other DOFs in the computed execution time for the former. However I was not able to find anything about generating s-curve profile with given time. Having tried to solve it by myself I came up to a conviction that it is an optimization problem. I tried several approaches but they all seemed to have extremely non-convex cost function and hardly could they satisfy constraints on final velocity. Having spent much time I wondered if there is an easy way to synchronize them?