File Exchange

image thumbnail

Minimum jerk trajectory generation

version 1.1 (1.45 KB) by

Generating trajectory from 1 point to another point with minimal jerk.

13 Downloads

Updated

View License

Generating trajectory from 1 point to another point with minimal jerk.
Overview on minimum jerk trajectory can be found at http://shadmehrlab.org/book/minimum_jerk/minimumjerk.htm
Some papers on this topic:
Amirabdollahian, F., Loureiro, R., & Harwin, W. S. (2002). Minimum jerk trajectory control for rehabilitation and haptic applications. In Proceedings of IEEE International Conference on Robotics and Automation (Vol. 4, pp. 3380–3385). Ieee. http://doi.org/10.1109/ROBOT.2002.1014233
Kyriakopoulos, K. J. (1994). Minimum jerk for trajectory planning and control. Robotica, 12(02), 109. http://doi.org/10.1017/S0263574700016696

Comments and Ratings (3)

Xing Yan

anything in the attached zip folder? after my downing only a licence

Sunshine352

Matthew Kelly

Matthew Kelly (view profile)

Nice vectorized implementation.

A thought: It might be nice to include an additional argument so that the user could more easily use this function to evaluate intermediate points along the trajectory. Something like:
min_jerk(xi, xy, ti, tf, t)

You also might find the following submission interesting:
http://www.mathworks.com/matlabcentral/fileexchange/54442-minimum-jerk-trajectory-with-constraints

Updates

1.1

Fixed: Wrong calculation after previous update.

1.1

Vectorizing the output, such that for loop becomes unnecessary.
Adding descriptions on the variables.

MATLAB Release
MATLAB 7.12 (R2011a)

Download apps, toolboxes, and other File Exchange content using Add-On Explorer in MATLAB.

» Watch video

Win prizes and improve your MATLAB skills

Play today