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

ros_control

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

prrraveen
97 ●8 ●11 ●16

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

3907 ●28 ●45 ●71

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

flag of United States of America

3045 ●62 ●89 ●110 http://allen-software.com/

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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Last updated: Jul 15 '15

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