I am using a Manipulator Arm and I am running the Inverse Kinematics at 10ms and I am getting a smooth motion when I give velocity.
I want to achieve the same smooth motion when I am giving Individual joint velocity, right now I am getting a jerky/step motion when I give Individual joint Velocity.
What could be the reason for this and how to rectify this issue.
Note: I am still running my Inverse Kinematics code and Individual Joint Velocity code at 10ms.
I am using same Profile Acceleration and Profile Velocity in IK for both Cartesian mode and Individual Joint Velocity mode.
I can see a fine and smooth motion in Cartesion mode but a Jerky motion in Individual Joint Mode.
Well, with the given information, I can only think of a program issue with the IK algorithm.
Since IK is usually applied for multi joint system, the program might not be optimized for a single joint.
If you can draw a graph of time vs position for the single joint with IK result, you should have a well carved curve as you can see in the Trapezoidal Position and Velocity graph