Minimum jerk trajectories

Smoothness can be quantified as a function of jerk, which is the time derivative of acceleration. This is an important concept in robotics when experts define robot's joints motion.

You should study the concept, understand its mathematical meaning and represent your understanding. You should as well discuss why jerk is the smoothness criterion and not "snap", "crackle", or "pop" (4th, 5th and 6th derivatives of distance)?


  1. Wise et al.
  2. Movellan et al.