Position-Velocity-Based Trajectory Control for Manipulator and Its Application to Visual Tracking System

摘要

This paper presents a control system to move the mainipulator smoothly in linear path between two designated POSE (position and orientation). Two independent commands, the POSE command and the velocity command, are applied as input of position-based and velocity-based control, respectively. The step function of POSE command describes directly the desired change of mainipulator's POSE from a source to a destination POSE.