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What is position controlled joint ,velocity controlled joint [closed]

asked 2015-07-13 11:55:19 -0500

prrraveen gravatar image

updated 2015-07-13 11:55:55 -0500

Could someone please explain me the following in one line joint state, joint command, position controlled joint, velocity controlled joint, effort controlled joint.

I am reading ros_control and I keep getting these terminology again and again.

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Closed for the following reason the question is answered, right answer was accepted by allenh1
close date 2015-07-15 19:35:12.915500

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answered 2015-07-15 11:31:57 -0500

Adolfo Rodriguez T gravatar image

joint state refers to sensor readings like actual position, velocity and effort.

A position controlled joint is a joint that can be commanded with joint position references. A similar reasoning applies to velocity- and effort-controlled joints.

A controllable joint typically reports its state (read from joint) and accepts motion commands (write to joint).

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answered 2015-07-13 13:13:08 -0500

allenh1 gravatar image

From the ROS wiki.

The joint element describes the kinematics and dynamics of the joint and also specifies the safety limits of the joint.

Basically, it is a way of keeping track of the kinematics of the robot for simulation as well as for path planning.

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Asked: 2015-07-13 11:55:19 -0500

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Last updated: Jul 15 '15