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
Auralius Manurung (2020). Minimum jerk trajectory generation (https://www.mathworks.com/matlabcentral/fileexchange/53164-minimum-jerk-trajectory-generation), MATLAB Central File Exchange. Retrieved .
The unit can be anything. Principally, it is the distance unit per second.
Nice work, thanks! What exactly is the unit for velocity here?
anything in the attached zip folder? after my downing only a licence
Nice vectorized implementation.
A thought: It might be nice to include an additional argument so that the user could more easily use this function to evaluate intermediate points along the trajectory. Something like:
min_jerk(xi, xy, ti, tf, t)
You also might find the following submission interesting:
Fixed: Wrong calculation after previous update.
Vectorizing the output, such that for loop becomes unnecessary.