Background Information: I'm new to robotics and my school currently has access to a 6DOF Universal Robot (UR-10). I'm programming it using its scripting language URscript and the arm has these two commands...
speedl(vector of speeds [x, y, z, Rx, Ry, Rz])
where the list of speeds are linked to the end effector.
speedj(joints speeds[base, shoulder, elbow, wrist1, wrist2, wrist3]), given in rads/s
speedj is by far superior in terms of smooth motion, however using a PS3 controller it is much harder to control and thus I would like to be able send controls linear commands (left, right, fwd, back, up, and down) and have them be converted inappropriate joint speeds.
Problem: I want to move the arm linearly, but I don't know how to convert linear motion into an equivalent representation in terms of the joint speeds. Where should I start researching? Is there a topic that covers my question?
I doubt there's an immediate answer to my problem, but I'm unsure where to start looking. Any keywords that might facilitate my research would be awesome.