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Motor Control: Velocity Profile on-the-fly

Motor Control: Velocity Profile on-the-fly

Motor Control: Velocity Profile on-the-fly

(OP)
I am upgrading a two-axis, coordinated-motion system to use on-the-fly velocity profiling to allow changes in environmental/user conditions to take effect in real-time.  What is a good resource for algorithms for on-the-fly, coordinated motion, velocity profiling of an X,Y vector path.  I know they exist, since there are many products available which perform this operation.  I need a home-grown version due to cost constraint, management, politics, etc.  Thank you for your suggestions.

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