Position-Velocity-Based Trajectory Control for Manipulator and Its Application to Visual Tracking System

This paper presents a control system to move the manipulator smoothly in linear path between two designated POSE (position and orientation). Two independent commands, the POSE command and the velocity command, are applied as input of position-based and velocity-based control, respectively. The step function of POSE command describes directly the desired change of manipulator's POSE from a source to a destination POSE. The velocity command determines the desired manipulator velocity, and contributes directly to the smoothness of movement. To obtain a linear path, the trajectories lying between the source and destination POSE are controlled to change in linear way by employing a weighting function. Experiments conducted on a 3-links serial planar manipulator demonstrated the performance of the proposed controller. As addition, taking the merits of the proposed manipulator control system, a visual tracking system is realized and demonstrated via experiments.