diff --git a/industrial_robot_client/include/industrial_robot_client/joint_trajectory_action.h b/industrial_robot_client/include/industrial_robot_client/joint_trajectory_action.h
index c1718698..cc332b67 100644
--- a/industrial_robot_client/include/industrial_robot_client/joint_trajectory_action.h
+++ b/industrial_robot_client/include/industrial_robot_client/joint_trajectory_action.h
@@ -155,6 +155,12 @@ class JointTrajectoryAction
    */
   industrial_msgs::RobotStatusConstPtr last_robot_status_;
 
+  /**
+   * \brief Time at which to start checking for completion of current 
+   * goal, if one is active
+   */
+  ros::Time time_to_check_;
+
   /**
    * \brief The watchdog period (seconds)
    */
diff --git a/industrial_robot_client/src/joint_trajectory_action.cpp b/industrial_robot_client/src/joint_trajectory_action.cpp
index aae399dc..f1a35df6 100644
--- a/industrial_robot_client/src/joint_trajectory_action.cpp
+++ b/industrial_robot_client/src/joint_trajectory_action.cpp
@@ -143,6 +143,8 @@ void JointTrajectoryAction::goalCB(JointTractoryActionServer::GoalHandle & gh)
       gh.setAccepted();
       active_goal_ = gh;
       has_active_goal_ = true;
+      time_to_check_ = ros::Time::now() + 
+          ros::Duration(active_goal_.getGoal()->trajectory.points.back().time_from_start.toSec() / 2.0);
 
       ROS_INFO("Publishing trajectory");
 
@@ -225,6 +227,12 @@ void JointTrajectoryAction::controllerStateCB(const control_msgs::FollowJointTra
     return;
   }
 
+  if (ros::Time::now() < time_to_check_)
+  {
+    ROS_DEBUG("Waiting to check for goal completion until halfway through trajectory");
+    return;
+  }
+
   // Checking for goal constraints
   // Checks that we have ended inside the goal constraints and has motion stopped