Minimum jerk trajectory generation

Generating trajectory from 1 point to another point with minimal jerk.

Version 1.1.0.0 (1.45 KB)
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16 Dec 2015

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Generating trajectory from 1 point to another point with minimal jerk.
Overview on minimum jerk trajectory can be found at http://shadmehrlab.org/book/minimum_jerk/minimumjerk.htm
Some papers on this topic:
Amirabdollahian, F., Loureiro, R., & Harwin, W. S. (2002). Minimum jerk trajectory control for rehabilitation and haptic applications. In Proceedings of IEEE International Conference on Robotics and Automation (Vol. 4, pp. 3380–3385). Ieee. http://doi.org/10.1109/ROBOT.2002.1014233
Kyriakopoulos, K. J. (1994). Minimum jerk for trajectory planning and control. Robotica, 12(02), 109. http://doi.org/10.1017/S0263574700016696

Cite As

Auralius Manurung (2026). Minimum jerk trajectory generation (https://au.mathworks.com/matlabcentral/fileexchange/53164-minimum-jerk-trajectory-generation), MATLAB Central File Exchange. Retrieved .

General Information

MATLAB Release Compatibility

  • Compatible with any release

Platform Compatibility

  • Windows
  • macOS
  • Linux
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Version Published Release Notes
1.1.0.0

Fixed: Wrong calculation after previous update.
Vectorizing the output, such that for loop becomes unnecessary.
Adding descriptions on the variables.
1.0.0.0