Jerk

Rule of thumb:

• Acceleration × 10 or, in the case of rigid mechanical components, acceleration × 100 (means the acceleration should be reached in 100 ms or in 10 ms)

Correct value – minimum of …

• Maximum jerk to which the mechanical components, the tool, and the product may be subjected.
• Maximum jerk at which the tool and the robot mechanical system are not stimulated to oscillate.