# Explaining Ruckig's jerk-limited time-optimal online trajectory generation

- Source: Guyuehome
- Published: 2026-11-02T11:16:00.000Z
- RoboHot: https://robohot.news/en/items/n1b6haw0x6viha8qsgw6s97ru
- Original: https://www.guyuehome.com/detail?id=2109960025779761153

## Summary

The article explains Ruckig's jerk-limited online trajectory generation, covering the seven-segment profile of the triple-integrator-chain time-optimal problem, the selection of synchronization instants across multiple axes, and the closed-form solution for braking when limits are exceeded. It also presents measured tracking and target-jump replanning results for a two-joint arm in MuJoCo.