Control

Joint Space Trajectory

A joint space trajectory is a time-parameterized path specified directly in joint coordinates, typically as spline segments through waypoints with velocity, acceleration, and jerk constraints. Executing in joint space avoids online inverse kinematics and is immune to Cartesian singularities, though the resulting end-effector path between waypoints is not a straight line and must be checked for collisions.

Why it matters for physical AI

Most industrial motion and much learned-policy execution ultimately compiles to joint space trajectories, whose smoothness and timing determine cycle time, tracking accuracy, and mechanical wear.