Modern robots provide usually multiple interfaces towards them, e.g. position, velocity, acceleration, force, etc. It is thinkable that in some cases a user wants to use different interfaces along the kinematic chain, e.g. position on joint 1-3 and velocity on joints 4-6. This is especially interesting for making very complex robots, like mobile manipulators, humanoid robots, etc.
destogl
commented
1 year ago
Modern robots provide usually multiple interfaces towards them, e.g. position, velocity, acceleration, force, etc. It is thinkable that in some cases a user wants to use different interfaces along the kinematic chain, e.g. position on joint 1-3 and velocity on joints 4-6. This is especially interesting for making very complex robots, like mobile manipulators, humanoid robots, etc.