  In this chapter, the mathematical analysis of the minimum jerk trajectory
(MJT) generation is performed. In this study, the position and the velocity of
the minimum jerk trajectory as a function of time is presented in two cases:
the first one is the unconstrained point-to-point movements of the human hand,
whereas the second case is the curved point-to-point movements of the human
hand. Simulation study is carried out with some examples and MATLAB is used for
this simulation. The results prove that the minimum jerk trajectory is the
smoothest possible movement of the human hand.
