Discussion
An S-curve reference profile differs from a straight ramp in that it
Answer: D
Correct answer: limits the rate of change of acceleration
A straight ramp changes acceleration abruptly at each end, which is a step in torque and is felt as a jolt. The S-curve rounds those corners, limiting the jerk. The move takes slightly longer, but the mechanical shock and the excitation of resonances are both greatly reduced.
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