Control

Jerk Limit

A jerk limit is a bound on the third derivative of position enforced during trajectory generation, producing S-curve velocity profiles instead of trapezoidal ones with instantaneous acceleration steps. Online trajectory generators such as Ruckig compute time-optimal jerk-limited motions in real time, allowing controllers to react to new targets while respecting kinematic constraints of the hardware.

Why it matters for physical AI

Enforcing jerk limits at the trajectory layer lets aggressive learned or reactive commands execute without exciting resonances or tripping drives, bridging policy outputs and hardware tolerance in deployed systems.