Can Rotational Acceleration Be Determined With Given Velocity and Positions?

[bigred23z]

I'm looking to make a smooth curve between two points for my robot (I can control it's velocity, rotational velocity, and rotational acceleration). After making discrete points using BSpline curves, I'm *trying* to think simpler. Is it possible to determine a (constant) rotational acceleration given a constant velocity, a starting angle, a start position, and an end position?

Eg.

(Constant) Velocity: 10 mm/sec
(Starting) Rotational Velocity: 0 deg/sec
Start Angle: 45 degrees
Start Position: (0, 0) mm
End Position: (20, 10) mm

How would I go about determining a rotational acceleration to set-and-forget until it reaches the end position.

This is probably elementary, I just can't seem to wrap my head around it at this time of night :)

Thanks in advance

 

[LightHero]

.The rotational acceleration would need to be calculated based on the angle that needs to be traveled in order to reach the end position. This can be calculated by finding the difference between the start and end angles (45 - arctan(10/20) = 22.5 degrees). The rotational acceleration can then be calculated by dividing the angular displacement by the time required to travel it, which can be calculated from the velocity: rotational acceleration = 22.5/ (20/10) = 11.25 deg/sec^2.