File Exchange

image thumbnail

Minimum-Jerk Trajectory with Constraints

version (12.1 KB) by Matthew Kelly
Solve multi-segment kinematic trajectory optimization. Minimum jerk, Chebyshev collocation.


Updated 21 Feb 2016

From GitHub

View Version History

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 (2021). Minimum-Jerk Trajectory with Constraints (, GitHub. Retrieved .

Comments and Ratings (2)

gautam kumar

i didn't understand.

Matthew Sheen

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

Community Treasure Hunt

Find the treasures in MATLAB Central and discover how the community can help you!

Start Hunting!