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1 vote

Real time velocity control with Moveit

You could try writing a custom joint-space controller to use with MoveIt. In your controller, when you receive a trajectory command (i.e. "move here") you can do whatever you want at that ...
01 Binary's user avatar
  • 141
1 vote

Real time velocity control with Moveit

Is MoveIt Servo suitable for you?
Christoph Froehlich's user avatar
1 vote

End effector velocity control of a 6-DOF robotic manipulator using MPC

The question defines $x(t)$ as a "position reference". Given the remainder of the question, e.g. $\dot{q_t} = J^{-1}(q_t)\dot{x_t}$, I conclude that rather a full 6-DOF reference trajectory ...
JRTG's user avatar
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1 vote
Accepted

End effector velocity control of a 6-DOF robotic manipulator using MPC

$\ddot q$ equals $a$? Then augment your states with the joint positions, change the equality constraints to a double-integrating dynamic system from $\ddot q$->$\dot q$->$q$ and add simple ...
Christoph Froehlich's user avatar

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