Method for rotatory and/or linear movement of workpiece from resting position into another resting position, involves selecting polynomials such that combined characteristics of deflections of polynomials comprise three extreme values

摘要

The method involves moving a workpiece according to a movement profile (10a). The movement profile is defined by three polynomials, which are arranged one behind the other. The polynomials are selected in such a manner that combined characteristics of deflections of the polynomials comprise three extreme values and a section with constant characteristics during starting and ending, where a speed profile corresponds to lateral deflection of the movement profile. A parabolic portion is combined with a line segment.