6.3.5 Physical Parameters

What is a good top velocity? What is a good acceleration? It all depends on the physical characteristics of a robot. Without going into too much physics, we can always experiment and find out the maximum reliable velocity and acceleration/deceleration constants.

Let us use ${v_\mathrm{max}}$ to represent the maximum velocity, and ${a_\mathrm{max}}$ to represent the maximum acceleration. For simplicity, let us use $-{a_\mathrm{max}}$ as the maximum deceleration.