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Minimum jerk trajectory generation

version (1.45 KB) by Auralius Manurung
Generating trajectory from 1 point to another point with minimal jerk.


Updated 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
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.
Kyriakopoulos, K. J. (1994). Minimum jerk for trajectory planning and control. Robotica, 12(02), 109.

Cite As

Auralius Manurung (2020). Minimum jerk trajectory generation (, MATLAB Central File Exchange. Retrieved .

Comments and Ratings (5)

Jakob Fröhner
The unit can be anything. Principally, it is the distance unit per second.

Nice work, thanks! What exactly is the unit for velocity here?

Xing Yan

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.
Adding descriptions on the variables.

MATLAB Release Compatibility
Created with R2011a
Compatible with any release
Platform Compatibility
Windows macOS Linux