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.
Matthew Kelly (2021). Minimum-Jerk Trajectory with Constraints (https://github.com/MatthewPeterKelly/Kinematic_Constrained_Trajectory), GitHub. Retrieved .
Find the treasures in MATLAB Central and discover how the community can help you!Start Hunting!