Take double S of velocity profile for example where the seven segments exist. Given the desired displacement
s, the constraints
vmax, after the computation I found that each duration which it takes respectively to reach
s are not the integer times of the period e.g.
Ti=2 ms .
This picture is from Trajectory Planning for Automatic Machines and Robots.
I expect this would result in some problem when processed in CPU discretely. This would exceed the
amax when round up the
Tj1 to integer times of period or not reach the
amax when round down. The similar problem also apply to
s. This would not satisfy the accuracy of displacement.
Is there some solution or relevant investigation about this quesiton?
I thought up a solution by assigning the duration which equals the rounded up time as new constraints to resolve for the new
jmax after the original computation.