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Minimum-Jerk Trajectory with Constraints

version (11.7 KB) by Matthew Kelly
Solve multi-segment kinematic trajectory optimization. Minimum jerk, Chebyshev collocation.


Updated 21 Feb 2016

GitHub view license on GitHub

This project uses multi-segment Chebyshev orthogonal collocation to find minimal-jerk kinematic trajectories that pass through a set of desired way-points, while meeting a set of angle and rate constraints along the path. The user can specify the number of way-points and order of the interpolating polynomial between the way-points. Optimization is solved as a quadratic program. Includes example for a 2 link robot arm task.

Cite As

Matthew Kelly (2020). Minimum-Jerk Trajectory with Constraints (, GitHub. Retrieved .

Comments and Ratings (2)

gautam kumar

i didn't understand.

Matthew Sheen


changed title to be more clear

made title more clear

added photo. Updated name and description.

MATLAB Release Compatibility
Created with R2012a
Compatible with any release
Platform Compatibility
Windows macOS Linux