Comment by BennyRe for Hii set a path to the katana using ROS, that is consisted of 11 points +the starting point, that should take 11 sec. instead it takes 15 secs ,why is that. as a result of this delay the robot does not reach the desired velocity - acceleration that i want (these are lower than the max vel and max acc) what should i do?thanks

What happens if you make the trajectory longer? Is the performed trajectory even longer or is the time it took the correct? Which Katana do you use?