Input target displacement d and motion velocity v, compute straight-line motion time t = d/v for robot point-to-point motion beat estimation and trajectory-planning segment timing.
输入位移 d 与速度 v，求运动时间。
| Item | Formula / Note | Source / Standard |
|---|---|---|
| Cruise time | tc = (d−sacc−sdec)/vmax | Biagiotti 2008 |
| Triangular case | t = 2√(d/a) | Biagiotti 2008 |
| Trapezoidal total | t = vm/a + d/vm | Biagiotti 2008 |