I have a five DoF robot. Each axis is connected to a cylinder. You can send PWM values to each cylinder and you are able to read out the position values of each cylinder which makes it possible to design a closed-loop inverse kinematic controller. Given a desired goal position for the manipulator, assume you have estimated the desired velocity change of each joint (for example using
move_group library in ROS).
Although we can control the velocity of the robot's joints by manipulating the PWM values, we cannot perfectly recreate these velocity values since we don't have the dynamic model of the robot. Thus, our best bet is to go for the position control of the robot.
Is my theory so far correct? Or is there a way to implement a velocity controller without a dynamic model?