How to set kinematics actions to finish within a specified time

[pretty0329]

I am currently using kinematics to create robot arm animations.
Right now, I have the arm’s target positions and the desired completion time for each movement.

However, I noticed that the kinematics functions ( addkinematic() ) use speed as a parameter.
How can I achieve my goal of making the motion finish within a specified time, similar to the default robot behavior where we can set “Move Time”?

If possible, could you help me modify the attached file to implement this?

Thank you.

[moehlmann_fe · Accepted solution]

You'd need to calculate what speed the joint needs to move at to finish the travel in the planned time. If acceleration is infinite (which I believe is the case for motion paths) this is a simple division. If not, the calculation gets more complex, but is still just using the equations available to you and transforming them into a single one that has the maximum speed as the only unknown quantity.

If my back-of-the-napkin math is right that should be s = v*t - v²/a (s = total distance/rotation, v = max speed, t = total time, a = acceleration), then solve for v.