Time laws for point-to-point motion of a single axis: position, velocity, acceleration and jerk as functions of time, planned once and sampled every control tick.
| Algorithm | Description |
|---|---|
| Polynomial Profile | Cubic (position + velocity) or quintic (+ acceleration) boundary-matched time law over a fixed duration |
| Trapezoidal Profile | Minimum-time trapezoid / triangle velocity profile (LSPB) and a fixed-duration plan for multi-axis synchronization |
| S-Curve Profile | Seven-phase jerk-limited rest-to-rest profile with a closed-form three-step planner — continuous acceleration |