Here you can find information on how the desired motion of a manipulator is described in space. The trajectory refers to a time in history of position, velocity, and acceleration for each degree of freedom of the manipulator. The solution to this problem includes human interface of how we wish o specify a path through space.
As the description of manipulator motion is very complicated, most of the time the human user of the manipulator is not required to come up with complicated functions to describe the motion to complete the task. Instead the user specifies the trajectories with simple descriptions of the motion and let the computer figure out the details.
How do I measure the position of my manipulator or my mobile robot?
In many applications there is a need to accurately measure the position of an end-effector (hand or gripper) or find coordinate locations on objects, or track motion, or give a time and position history of a moving object.
Virtual reality applications need this kind of device to provide real-time adjustments to views that are projected to VR users. Robotics people have needed this to provide accurate assessments of manipulator motions and mobile robot positions.
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