$3\mathrm{.}3$ It is required to plan a trapezoidal motion profile for a gantry robot as follows:

Travel during constant velocity $=0\mathrm{.}5m$

Deceleration time $=0\mathrm{.}025s$

Dwell time $($time for constant velocity$)=4s$

If the system accelerates and decelerates at the same rate, find the following performance

variables:

a$.$ The total move time.

b$.$ The constant velocity in $c\frac{m}{s}$

c$.$ total distance moved.

d$.$ acceleration.