Minimum-Jerk Trajectory with Constraints

Version 1.4.0.0 (12.1 KB) by Matthew Kelly
Solve multi-segment kinematic trajectory optimization. Minimum jerk, Chebyshev collocation.
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1.1K Downloads
Updated 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 .

MATLAB Release Compatibility
Created with R2012a
Compatible with any release
Platform Compatibility
Windows macOS Linux
Categories
Find more on Nonlinear Optimization in Help Center and MATLAB Answers
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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.