In order to determine an
impact-limited movement curve in a simple manner without using an
impact filter connected downstream, the invention provides that the movement curve (5) consists of a starting movement curve (5a) and a target movement curve (5b), the starting movement curve (5a) begins in a starting movement phase (pS, vS, aS) and transitions into the target movement curve (5b), and the target movement curve (5b) begins in a starting movement phase (pS, vS, aS). The target movement curve (5b) is determined from the acceleration curve starting from the initial movement phase (pA, vA, aA) and ending with the target movement phase (pZ, vZ, aZ) over a plurality of adjustment time steps k, the maximum acceleration change in each adjustment
time step k corresponding to a predefined maximum
impact (jmax), the acceleration curve of the target motion curve (5b) is present as a step function, the step function is created following a predefined motion limit in such a way that the area below the step function corresponds to a speed change ([
delta] v) between the initial speed (vA) of the initial motion phase (pA, vA, aA) and the target speed (vZ) of the target motion phase (pZ, vZ, aZ), and ascertaining a target path by means of the ascertained target movement curve (5b), said target path passing through the target movement curve (5b), and ascertaining a point in time at which the ascertained target movement curve (5b) starts in order to reach the target position (pZ) of the target movement phase (pZ, vZ, aZ) on the basis of the target path.