Trapezoidal motion profile
Also: trapezoidal velocity profile
A move that accelerates, cruises at bounded speed, then decelerates.
It becomes triangular when travel is too short to reach the speed limit; position is the integral of its velocity segments.
Example A 0.5 m move may use 0.5 s acceleration, 0.75 s cruise, and 0.5 s deceleration.
Common misconception Sampling an instantaneous position step more often does not create a motion profile.