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I am trying to sync the speeds of all motors in a 5 axis robotic arm. By sync I mean determining the speed for each movement so that all axes finish their movement at the same time.

The problem I am having is calculating the max speed for each axis, given the motor speed limitations.

I am using a 5th degree polynom for path planning.

How to do suggest calculating the speed (time for the 5th degree polynom) for each movement? Mabey using a 5th degree polynom is not the right approach, if so what is commonly used for path planning and speed syncing?

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