How to set object velocity based on current position

[enbo]

Hello,

I want my manipulator to work in task space with velocity xd = f(x), that means the velocity is based on the end effector's
current position which is known as SEDS, a dynamic system based method.

Method 1:
if I use IK based method, then I need to set ikTarget velocity xd = f(x), I find

Code: Select all

 sim.rmlMoveToPosition

is not what I need.

Method 2:
Write my own joint controller use xdot = Jqdot method, but I don't know how to solve the jacobian problem with joints in Torque mode. Is there a demo for controller problem?

Thanks

[coppelia]

Hello,

maybe you can have a look here.

Cheers