Limit acceleration based on machine position

I would like to limit acceleration based on the position of the machine. Has this been approached before? My thinking is the TP would need to be altered. As a start, the movement to be calculated could start with a lookup of the current axes' position and multiply that with a factor and the default acceleration value. This would result in incorrect behaviour for long moves but work fine for smaller ones.

Use case would be a large VMC with an open portal, ie only one side supported, the other side open. Or serial kinematics, ie a robot swinging an extended arm should accelerate slower.

shu

ps. I didn't check the branches in a while, is there a working limited jerk TP, at least for 3 axis trivial kinematics ?

I think this would be hard. And also weird. You would have a machine that was capable of better precision in some places than others.

The current multi-line lookahead trajectory planner was a major feat of coding, and I think that its job would be much harder with variable constraints.