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Perturbation profile characteristics.
| Profile name | Sequence | Magnitude | Rise time | Duration | Jerk | Displacement | Max. Speed |
|---|---|---|---|---|---|---|---|
| m/s2 | s | s | m/s3 | m | m/s | ||
| Br1 | 1 | 1.0 | 4.4 | 4.7 | 0.3 | 2.94 | 2.4 |
| Br2 | 5 | 2.5 | 2.2 | 2.5 | 1.7 | 1.82 | 3.2 |
| Acc1-J1 | 2 | 1.5 | 0.4 | 2.3 | 5.6 | 2.65 | 2.0 |
| Acc1-J2 | 3 | 1.5 | 0.2 | 2.2 | 11.3 | 2.58 | 2.0 |
| Acc2-J1 | 4 | 3.0 | 0.8 | 1.8 | 5.6 | 2.69 | 3.1 |
