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4

Your intuition is partially correct in the sense that you ought to go with position control implemented via velocity commands resorting to a kinematic (not dynamic) model of the manipulator. This can be explained by inspecting one of the easiest policy used for inverse kinematics, $$ \dot{\mathbf{q}} = \mathbf{J}^{-1} \cdot \left( \mathbf{x}_d - \mathbf{x}(\...


2

These two concepts are complementary and you use them together, the motion profile providing the input to your control scheme. At each time-step the motion profile gives you the reference values for the control loop scheme (and also some feed forward values if needed). This goes both for the acceleration and the deceleration phases. in both cases, the motion ...


1

On the theory side, this is related to the Nyquist Sampling Rate, which is how frequently you must measure a single to get an accurate reconstruction of it's peaks / valleys. Not suprisingly, Nyquist as a name appears all over some fundamental results in optimal control like the nyquist stability theorem. I suspect the insight you are looking for is right ...


1

Extending the previous answer which describes how to compute a minimum-jerk trajectory given a consistent distance coordinate system. A simple way to do this is to treat the first coordinate as your origin then convert each other GPS point to meter distances from your first coordinate using one of the latitude and longitude equations here


1

As reported for example in https://robotics.stackexchange.com/a/21571/6941, a minimum-jerk trajectory in one dimension is coded with respect to time $t$ as: $$ x(t) = x_i + (x_f-x_i) \cdot \left( 10\left(\frac{t}{t_f}\right)^3 -15\left(\frac{t}{t_f}\right)^4 +6\left(\frac{t}{t_f}\right)^5\right), $$ where $t_f$ is the final time ($2\, \text{s}$ in your case),...


1

Based on your comment: if I am able to get 0 to 2pi, would be enough as well. The following code will do it: modifiedHeading = SensorOutput(); if(modifiedHeading < 0) { modifiedHeading += 360f; } But, as I've mentioned previously, you still have the jump discontinuity, but you've moved it from the 359/1 degree range from the 179/-179 degree range.


1

You can take a look at PLCOpen Motion. This can be thought of a motion control SDK for programming languages used in the automation world. This is general purpose and well established. Furthermore, you can take a close look at all Robot Controller programming languages (like Kuka KRL, ABB Rapid, Fanuc Karel, Staubli Val3, etc.) These are programming ...


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