Minimum-Jerk Trajectory with Constraints

Solve multi-segment kinematic trajectory optimization. Minimum jerk, Chebyshev collocation.

https://github.com/MatthewPeterKelly/Kinematic_Constrained_Trajectory

Version 1.4.0.0 (12.1 KB)
1.1K Downloads
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21 Feb 2016

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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 (2026). Minimum-Jerk Trajectory with Constraints (https://github.com/MatthewPeterKelly/Kinematic_Constrained_Trajectory), GitHub. Retrieved .

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General Information

MATLAB Release Compatibility

  • Compatible with any release

Platform Compatibility

  • Windows
  • macOS
  • Linux
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Version Published Release Notes
1.4.0.0

changed title to be more clear
1.3.0.0

made title more clear
1.2.0.0

added photo. Updated name and description.
1.0.0.0

To view or report issues in this GitHub add-on, visit the GitHub Repository.
To view or report issues in this GitHub add-on, visit the GitHub Repository.